Page 1 General-Purpose AC Servo Series Built-in Positioning Function MODEL MR-J3- T SERVO AMPLIFIER INSTRUCTION MANUAL (CC-Link)
Page 2 Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual (Vol.2) and appended documents carefully and can use the equipment correctly.
Page 3 1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.
Page 5 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) option) between the servo motor and servo amplifier. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Not doing so may cause unexpected operation.
Page 6 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident.
Page 7 (7) General instruction To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual.
Page 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).
Page 9 (2) Configuration The control circuit provide safe separation to the main circuit in the servo amplifier. Control box Reinforced insulating type 24VDC power No-fuse Magnetic supply Servo breaker contactor motor Servo amplifier (3) Environment Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc.
Page 10 (6) Wiring (a) 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. Crimping terminal Insulating tube Cable (b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard compliant power connector sets are available from us as options.
Page 11 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J3-10T to MR-J3-22KT MR-J3-10T1 to MR-J3-40T1 MR-J3-60T4 to MR-J3-22KT4 Servo motor :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note)
Page 12 General-Purpose AC servo MR-J3-T for the first time. Always purchase them and use the MR-J3-T safely. Relevant manuals Manual name Manual No. MELSERVO-J3 Series Instructions and Cautions for Safe Use of AC Servos IB(NA)0300077 MELSERVO Servo Motor Instruction Manual (Vol.2) SH(NA)030041 EMC Installation Guidelines IB(NA)67310 <<About the wires used for wiring>>...
Page 13 MEMO A - 12...
Page 14: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -36 1.1 Introduction............................... 1 - 1 1.1.1 Features of CC-Link communication functions ................1 - 1 1.1.2 Function block diagram........................1 - 2 1.1.3 System configuration......................... 1 - 5 1.2 Servo amplifier standard specifications....................1 - 7 1.3 Function list .............................
Page 15 3.6.3 Remote register-based position/speed setting................3 -38 3.7 Function-by-function programming examples..................3 -41 3.7.1 System configuration example......................3 -41 3.7.2 Reading the servo amplifier status ....................3 -44 3.7.3 Writing the operation commands..................... 3 -45 3.7.4 Reading the data ..........................3 -46 3.7.5 Writing the data ..........................
Page 16 5. OPERATION 5 - 1 to 5 -60 5.1 Switching power on for the first time ....................... 5 - 1 5.1.1 Startup procedure..........................5 - 1 5.1.2 Wiring check ............................5 - 2 5.1.3 Surrounding environment........................5 - 3 5.2 Startup ..............................5 - 4 5.2.1 Power on and off procedures......................
Page 17 6.1.8 Electronic gear........................... 6 - 6 6.1.9 Auto tuning ............................6 - 7 6.1.10 In-position range..........................6 - 8 6.1.11 Torque limit............................6 - 9 6.1.12 Selection of servo motor rotation direction..................6 -10 6.1.13 Encoder output pulse ........................6 -10 6.2 Gain/filter parameters (No.
Page 18 8.5 Display..............................8 - 7 8.5.1 Outline of screen transition ....................... 8 - 7 8.5.2 MR-PRU03 parameter unit setting ....................8 - 8 8.5.3 Monitor mode (status display)......................8 - 9 8.5.4 Alarm/diagnostic mode ........................8 -11 8.5.5 Parameter mode..........................8 -13 8.5.6 Point table mode ..........................
Page 19 12. OUTLINE DRAWINGS 12- 1 to 12-12 12.1 Servo amplifier ............................12- 1 12.2 Connector ............................. 12-10 13. CHARACTERISTICS 13- 1 to 13-10 13.1 Overload protection characteristics ...................... 13- 1 13.2 Power supply equipment capacity and generated loss ............... 13- 3 13.3 Dynamic brake characteristics......................
Page 20 15.3 Protocol ..............................15- 5 15.3.1 Transmission data configuration....................15- 5 15.3.2 Character codes ..........................15- 6 15.3.3 Error codes ............................. 15- 7 15.3.4 Checksum............................15- 7 15.3.5 Time-out operation ......................... 15- 8 15.3.6 Retry operation..........................15- 8 15.3.7 Initialization............................. 15- 9 15.3.8 Communication procedure example....................
Page 21 16.5.3 Test operation ..........................16-33 16.5.4 Parameter setting.......................... 16-34 16.5.5 Point table setting.......................... 16-35 16.5.6 Actual operation ..........................16-35 16.6 Servo amplifier display......................... 16-36 16.7 Automatic operation mode........................16-38 16.7.1 What is automatic operation mode?..................... 16-38 16.7.2 Automatic operation mode 1 (Rotation direction specifying indexer).......... 16-39 16.7.3 Automatic operation mode 2 (Shortest rotating indexer) .............
Page 22: Functions And Configuration
1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MR-J3- T CC-Link compatible servo amplifier can support the CC-Link communication functions. Up to 42 axes of servo amplifiers can be controlled/monitored from the programmable controller side. As the servo, it has the function to perform positioning operation by merely setting the position data (target positions), servo motor speeds, acceleration and deceleration time constants, etc.
Page 23: Function Block Diagram
1. FUNCTIONS AND CONFIGURATION 1.1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J3-350T or less MR-J3-200T4 or less Power factor improving DC Regenerative reactor option N( ) Servo amplifier P( ) Servo motor Diode (Note 1) Relay...
Page 24 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) Power factor improving DC Regenerative reactor option Servo amplifier Servo motor Diode Relay stack (Note 1) Current Power detector supply CHARGE Regene- lamp rative Dynamic Cooling fan brake Electro- Control magnetic circuit 24VDC brake power...
Page 25 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-11KT(4) to 22KT(4) Power factor improving DC Regenerative reactor option Servo amplifier Servo motor Diode Thyristor stack (Note 1) Current Power detector supply CHARGE Regene- lamp rative Cooling fan Electro- Control magnetic circuit 24VDC brake power supply Base...
Page 26: System Configuration
1. FUNCTIONS AND CONFIGURATION 1.1.3 System configuration This section provides operations using this servo. Use of CC-Link enables you to freely configure any system from a single-axis system to an up to 42-axis system. Set the following values to the point table. Name Setting range Unit...
Page 27 1. FUNCTIONS AND CONFIGURATION (2) Operation using CC-Link communication functions and external input signals (a) Operation Using parameter No.PD06 to PD08 and parameter No.PD12, PD14, input devices can be assigned to the external input devices of CN1A and CN1B. The signals assigned to the external input signals cannot be used with the CC-Link communication functions.
Page 28: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.2 Servo amplifier standard specifications (1) 200V class, 100V class Servo amplifier MR-J3- 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 Item 3-phase or 1-phase 200 to 1-phase 100V to Voltage/frequency 3-phase 200 to 230VAC, 50/60Hz 230VAC, 50/60Hz...
Page 29 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J3- 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 Item Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position return Dog type direction may be selected.
Page 30 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J3- 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 Item (Note 2) 0 to 55 (non-freezing) In operation Ambient (Note 2) 32 to 131 (non-freezing) temperature 20 to 65 (non-freezing) In storage 4 to 149 (non-freezing)
Page 31 1. FUNCTIONS AND CONFIGURATION (2) 400V class Servo amplifier MR-J3- 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4 Item Voltage/frequency 3-phase 380 to 480VAC, 50/60Hz Permissible voltage fluctuation 3-phase 323 to 528VAC Permissible frequency Within 5% fluctuation Power supply capacity Refer to section 13.2 Inrush current Refer to section 13.5...
Page 32 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J3- 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4 Item Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position return Dog type direction may be selected.
Page 33 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J3- 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4 Item 0 to 55 (non-freezing) In operation Ambient 32 to 131 (non-freezing) temperature 20 to 65 (non-freezing) In storage 4 to 149 (non-freezing) Ambient In operation 90%RH or less (non-condensing) humidity...
Page 34: Function List
1. FUNCTIONS AND CONFIGURATION 1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference Select the required ones from among 31 preset point tables and perform Positioning by automatic operation in accordance with the set values.
Page 35 1. FUNCTIONS AND CONFIGURATION Function Description Reference Any input device such as servo-on (SON) can be assigned to any pin of CN6 Parameter No. I/O signal selection (Device connector. PD06 to PD08 setting) PD12 PD14 Servo motor-torque is limited. Section 4.6.3 Torque limit Section 6.1.11 Output signal can be forced on/off independently of the servo status.
Page 36: Model Code Definition
3PH+1PH200-230V 60Hz 1.3A 1PH 200-230V 50/60Hz Rated output current 170V 0-360Hz 1.1A OUTPUT : SERIAL : A34230001 Serial number PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model MR-J3-100T(4) or less MR-J3-200T(4) With no regenerative resistor Series Symbol Description Indicates a servo...
Page 37: Combination With Servo Motor
1. FUNCTIONS AND CONFIGURATION 1.5 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the servo motors with an electromagnetic brakes and the servo motors with a reduction gear. Servo motors Servo amplifier HF-SP...
Page 38: Structure
1. FUNCTIONS AND CONFIGURATION 1.6 Structure 1.6.1 Parts identification (1) MR-J3-100T or less Detailed Name/Application explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number. Baud rate switch (MODE) MODE Section 3.2.4 Select the CC-Link communication baud rate. Station number switches (STATION NO.) Set the station number of the servo amplifier.
Page 39 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200T(4) or less Detailed Name/Application explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number. Baud rate switch (MODE) MODE Section 3.2.4 Select the CC-Link communication baud rate. Station number switches (STATION NO.) Set the station number of the servo amplifier.
Page 40 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-350T Detailed Name/Application explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number. Baud rate switch (MODE) MODE Section 3.2.4 Select the CC-Link communication baud rate. Station number switches (STATION NO.) Set the station number of the servo amplifier.
Page 41 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350T4 MR-J3-500T(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Detailed Name/Application explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number.
Page 42 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-700T(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Detailed Name/Application explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number.
Page 43 1. FUNCTIONS AND CONFIGURATION (6) MR-J3-11KT(4) to MR-J3-22KT(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Detailed Name/Application explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number.
Page 44: Removal And Reinstallation Of The
1. FUNCTIONS AND CONFIGURATION 1.6.2 Removal and reinstallation of the front cover Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.
Page 45 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab Insert the front cover setting tabs into the sockets of Pull up the cover, supporting at point a) . servo amplifier (2 places). Setting tab Push the setting tabs until they click. 1 - 24...
Page 46 1. FUNCTIONS AND CONFIGURATION (2) For MR-J3-11KT(4) to MR-J3-22KT(4) Removal of the front cover 1) Press the removing knob on the lower side of the 3) Pull it to remove the front cover. front cover ( a) and b) ) and release the installation hook.
Page 47: Configuration Including Auxiliary Equipment
1. FUNCTIONS AND CONFIGURATION 1.7 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products. (1) MR-J3-100T or less (a) For 3-phase or 1-phase 200V to 230VAC R S T (Note 3) Power supply MR Configurator Personal...
Page 48 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC (Note 3) Power supply MR Configurator Personal computer No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) Power factor improving DC CC-Link reactor (Note 2) (FR-BEL) Line noise filter (FR-BSF01) I/O signal (Note 1)
Page 49 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-60T4 MR-J3-100T4 R S T (Note 3) Power supply Personal MR Configurator computer No-fuse breaker (NFB) or fuse Magnetic Servo amplifier contactor (MC) (Note 2) CC-Link Line noise filter (FR-BSF01) (Note 2) I/O signal Power factor improving DC reactor (FR-BEL-H)
Page 50 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-200T(4) R S T (Note 3) Power supply No-fuse breaker (NFB) or fuse Personal MR Configurator computer Magnetic contactor (MC) (Note 2) Line noise filter (FR-BSF01) Servo amplifier (Note 2) Power factor improving DC reactor (FR-BEL/ FR-BEL-H) CC-Link...
Page 51 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350T (Note 3) R S T Power supply No-fuse breaker (NFB) or fuse Magnetic contactor MR Configurator Personal (MC) computer (Note 2) Line noise filter Servo amplifier (FR-BLF) (Note 2) Power factor improving DC reactor(FR-BEL) CC-Link Regenerative option I/O signal...
Page 52 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-350T4 MR-J3-500T(4) R S T (Note 3) Power supply MR Configurator Personal computer No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) CC-Link (Note 1) Line noise Battery filter (Note 2) MR-J3BAT (FR-BLF) I/O signal (Note 2) Power factor improving DC...
Page 53 1. FUNCTIONS AND CONFIGURATION (6) MR-J3-700T(4) R S T (Note 3) Power supply MR Configurator Personal computer No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) CC-Link (Note 2) (Note 1) Battery Line noise MR-J3BAT filter (FR-BLF) I/O signal (Note 2) Power factor improving DC...
Page 54 1. FUNCTIONS AND CONFIGURATION (7) MR-J3-11KT(4) to MR-J3-22KT(4) R S T (Note 3) Power supply Personal MR Configurator computer No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) (Note 2) Line noise filter (FR-BLF) CC-Link (Note 1) Battery MR-J3BAT I/O signal (Note 2) Power factor...
Page 55: Selection Of Operation Method
1. FUNCTIONS AND CONFIGURATION 1.8 Selection of operation method Using the CC-Link communication functions, this servo enables a wide variety of operation methods. The operation method changes depending on the input device, parameter and point table setting. The flow of the operation method that changes depending on the device and parameter setting status is shown in the chart for your reference.
Page 56 1. FUNCTIONS AND CONFIGURATION Reference Main description Positioning is started by Positioning operation is Section 3.8.2 Point table making the start signal executed once with Section auxiliary function position data handled valid after selection of 5.4.2 (1) as absolute value. the point table with the remote input.
Page 57 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 36...
Page 58: Installation
2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.
Page 59 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is available for the servo amplifier of under 3.5kW for 200V class and 400W for 100V class. Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
Page 60: Keep Out Foreign Materials
2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
Page 61: Inspection Items
2. INSTALLATION 2.4 Inspection items Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 62: Cc-Link Communication Functions
3. CC-LINK COMMUNICATION FUNCTIONS 3. CC-LINK COMMUNICATION FUNCTIONS 3.1 Communication specifications POINT This servo is equivalent to a remote device station. For details of the programmable controller side specifications, refer to the CC-Link system master unit manual. Item Specifications Power supply 5VDC supplied from servo amplifier Applicable CC-Link version Ver.1.10...
Page 63: System Configuration
3. CC-LINK COMMUNICATION FUNCTIONS 3.2 System configuration 3.2.1 Configuration example (1) Programmable controller side Fit "Type QJ61BT11N", "Type A1SJ61BT11" or "Type A1SJ61QBT11" "Control & Communication Link system master/local module" to the main or extension base unit which is loaded with the programmable controller CPU used as the master station.
Page 64: Wiring Method
3. CC-LINK COMMUNICATION FUNCTIONS 3.2.2 Wiring method (1) Communication connector The pin layout of the communication connector CN10 on the servo amplifier unit is shown below. Servo amplifier (2) Connection example The servo amplifier and programmable controller CC-Link master unit are wired as shown below. Refer to section 14.9 (3) for the CC-Link Ver.1.10-compliant cable used for connection.
Page 65 3. CC-LINK COMMUNICATION FUNCTIONS (4) How to wire the CC-Link connector (CN1) (a) Strip the sheath of the cable and separate the internal wires and braided shield. (b) Strip the sheaths of the braided shield and internal wires and twist the cores. Braided shield Approx.
Page 66: Station Number Setting
3. CC-LINK COMMUNICATION FUNCTIONS 3.2.3 Station number setting POINT Be sure to set the station numbers within the range of 1 to 64. Do not set the other values. (1) How to number the stations Set the servo station numbers before powering on the servo amplifiers. Note the following points when setting the station numbers.
Page 67: Communication Baud Rate Setting
3. CC-LINK COMMUNICATION FUNCTIONS 3.2.4 Communication baud rate setting Set the transfer baud rate of CC-Link with the transfer baud rate switch (MODE) on the servo amplifier front. The initial value is set to 156kbps. The overall distance of the system changes with the transfer speed setting. For details, refer to the CC-Link system master/local unit user's manual.
Page 68: Functions
3. CC-LINK COMMUNICATION FUNCTIONS 3.3 Functions 3.3.1 Function block diagram This section explains the transfer of I/O data to/from the servo amplifier in CC-Link, using function blocks. (1) Between the master station and servo amplifier in the CC-Link system, link refresh is normally performed at intervals of 3.5 to 18ms (512 points).
Page 69: Servo Amplifier Setting
3. CC-LINK COMMUNICATION FUNCTIONS 3.4 Servo amplifier setting (1) Servo amplifier side operation modes This servo amplifier has the following operation modes. Operation mode Description Parameter unit or personal computer in which MR Configurator is installed is used to run the Test operation mode servo motor.
Page 70: I/O Signals (I/O Devices) Transferred To/From The Programmable Controller Cpu
3. CC-LINK COMMUNICATION FUNCTIONS 3.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU 3.5.1 I/O signals (I/O devices) The input signals (input devices) may be used as either the CC-Link or CN6 external input signals. Make selection in parameter No.PD06 to PD11, PD12 and PD14. The output signals (output devices) can be used as both the CC-Link CN6 external output signals.
Page 71 3. CC-LINK COMMUNICATION FUNCTIONS (2) When 2 stations are occupied RXn/RYn: 64 points each, RWrn/RWwn: 8 points each Programmable controller Servo amplifier (RYn) Servo amplifier Programmable controller (RXn) (Note 1) Signal (Note 1) Signal connector connector Signal name Signal name Device No.
Page 72 3. CC-LINK COMMUNICATION FUNCTIONS Programmable controller Servo amplifier (RWwn) Servo amplifier Programmable controller (RWrn) (Note 1) (Note 1) Signal name Signal name Address No. Address No. RWwn (Note 2) Monitor 1 RWrn Monitor 1 data lower 16 bit RWwn (Note 2) Monitor 2 RWwn Monitor 1 data upper 16 bit RWwn...
Page 73: Detailed Explanation Of I/O Signals
3. CC-LINK COMMUNICATION FUNCTIONS 3.5.2 Detailed explanation of I/O signals (1) Input signals (Input devices) The note signs in the remarks column indicates the following descriptions. 1: Can be used as external input signals of CN6 connector by setting parameters No.PD06 to PD08 and parameter No.PD12 PD14.
Page 74 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Proximity dog In the shipment status, the proximity dog external input signal RYn3 RYn3 (CN6-2) is valid. For use in CC-Link, make it usable in parameter No.PD14.
Page 75 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Monitor output execution When RYn8 is turned ON, the following data and signals are RYn8 RYn8 demand set. At the same time, RXn8 turns ON. While RYn8 is ON, the monitor values are kept updated.
Page 76 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Position instruction demand When RY(n 2)0 is turned ON, the point table No. or position RY(n 2)0 command data set to remote register RWwn 4/RWwn 5 is set.
Page 77 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Absolute value/incremental RY(n 2)B is made valid when the remote register-based RY(n 2)B value selection position/speed specifying system is selected with Position/speed specifying system selection (RY(n 2)A) and the absolute value command system is selected in parameter No.PD10.
Page 78 3. CC-LINK COMMUNICATION FUNCTIONS (2) Output signals (Output device) POINT The output devices can be used for both the remote output and the external output signals of CN6 connector. The signal whose Device No. field has an oblique line cannot be used in CC-Link. Device No.
Page 79 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station 2 stations occupied occupied Instruction code execution Refer to Instruction code execution demand (RYn9). RXn9 RXn9 completion Warning RXnA turns ON when a warning occurs. RXnA RXnA When no warning has occurred, RXnA turns OFF within about 1s after power-on.
Page 80 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station 2 stations occupied occupied Trouble A trouble is assigned to the CN6-15 pin as an external output signal. RX(n 1)A RX(n 3)A RX(n 1)A or RX(n 3)A turns ON when the protective circuit is activated to shut off the base circuit.
Page 81 3. CC-LINK COMMUNICATION FUNCTIONS Remote register Signal name Description Setting range 1 station 2 stations occupied occupied RWwn+2 RWwn+2 Instruction code Sets the instruction code used to perform parameter or Refer to section point table data read and write, alarm reference or the like. 3.5.4 (1).
Page 82 3. CC-LINK COMMUNICATION FUNCTIONS (b) Output (Servo amplifier Programmable controller) Note that the data set to RWrn and RWrn+1 depends on whether 1 station or 2 stations are occupied. If you set inappropriate code No. or data to the remote register input, the error code is set to respond code (RWrn+2).
Page 83: Monitor Codes
3. CC-LINK COMMUNICATION FUNCTIONS 3.5.3 Monitor codes To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the instruction codes 0101 to 011C to read the decimal point position (multiplying factor) of the status indication. Setting any code No.
Page 84: Instruction Codes (Rwwn+2 Rwwn+3)
3. CC-LINK COMMUNICATION FUNCTIONS 3.5.4 Instruction codes (RWwn+2 RWwn+3) Refer to section 3.6.2 for the instruction code timing charts. (1) Read instruction codes The word data requested to be read with the instruction code 0000h to 0AFFh is read by Read code (RWrn+3).
Page 85 3. CC-LINK COMMUNICATION FUNCTIONS Reading data (RWrn 3) contents Code No. Item/Function (Servo amplifier Programmable controller) 0040h Input device status 0 bit 0 to bit F indicate the OFF/ON statuses of the corresponding input Reads the statuses (OFF/ON) of the input devices.
Page 86 3. CC-LINK COMMUNICATION FUNCTIONS Reading data (RWrn 3) contents Code No. Item/Function (Servo amplifier Programmable controller) 0052h Output device status 2 bit 0 to bit F indicate the OFF/ON statuses of the corresponding Reads the statuses (OFF/ON) of the Output output devices.
Page 87 3. CC-LINK COMMUNICATION FUNCTIONS Reading data (RWrn 3) contents Code No. Item/Function (Servo amplifier Programmable controller) Monitor multiplying factor 0100h Reads the multiplying factor of the data to be read with the monitor code. 011Dh The instruction codes 0100 to 011D Monitor multiplying factor correspond to the monitor codes 0000 to 0003:...
Page 88 3. CC-LINK COMMUNICATION FUNCTIONS Reading data (RWrn 3) contents Code No. Item/Function (Servo amplifier Programmable controller) Servo motor speed of point table No.1 to 255 0601h The servo motor speed set to the requested point table No. is The decimal value converted from the 2 lower returned.
Page 89 3. CC-LINK COMMUNICATION FUNCTIONS Writing data (RWwn+3) contents Code No. Item (Programmable controller Servo amplifier) Data RAM instruction of parameter 8201h Convert the decimal values into hexadecimal before setting. Writes the set value of each No. of the parameter group written by code No.8200h to 82FFh RAM.
Page 90 3. CC-LINK COMMUNICATION FUNCTIONS Writing data (RWwn 3) contents Code No. Item (Programmable controller Servo amplifier) Deceleration time constant data RAM 8801h Convert the values into hexadecimal before setting. command of point table Writes the deceleration time constants of 88FFh point table No.1 to 255 to RAM.
Page 91 3. CC-LINK COMMUNICATION FUNCTIONS Writing data (RWwn+3) contents Code No. Item (Programmable controller Servo amplifier) Acceleration time constant data EEP-ROM 8E01h Convert the values into hexadecimal before setting. command of point table Writes the acceleration time constants of point 8EFFh table No.1 to 255 to EEP-ROM.
Page 92: Respond Codes (Rwrn+2)
3. CC-LINK COMMUNICATION FUNCTIONS 3.5.5 Respond codes (RWrn+2) If any of the monitor codes, instruction codes, position command data/point table Nos., speed command data/point table Nos. set to the remote register is outside the setting range, the corresponding error code is set to respond code (RWwn+2).
Page 93: Setting The Cn6 External Input Signals
3. CC-LINK COMMUNICATION FUNCTIONS 3.5.6 Setting the CN6 external input signals Using parameter No.PD06 to PD08, PD12 and PD14, you can assign the input devices as the CN6 external input signals. The signals assigned as the CN6 external input devices cannot be used in CC-Link. Refer to section 4.5.1 for the pins to which signals can be assigned.
Page 94 3. CC-LINK COMMUNICATION FUNCTIONS Parameter No.PD14 Initial value Device name Automatic/manual selection (MD0) Initial value Device name Temporary stop/Restart (TSTP) Initial value Device name Proximity dog (DOG) BIN 0: Used in CC-Link BIN 1: Used as CN6 external input signal 3 - 33...
Page 95: Data Communication Timing Charts
3. CC-LINK COMMUNICATION FUNCTIONS 3.6 Data communication timing charts 3.6.1 Monitor codes (1) When 1 station is occupied Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor execution demand (RYn8) Monitoring (RXn8) Monitor 1 data (RWrn) Monitor 2 data (RWrn+1) Respond code (RWrn+2) Data HOLD Set the monitor codes (refer to section 3.5.3) to Monitor 1 (RWwn) and Monitor 2 (RWwn+1) and turn Monitor...
Page 96 3. CC-LINK COMMUNICATION FUNCTIONS (2) When 2 stations are occupied Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor execution demand (RYn8) Monitoring (RXn8) Monitor 1 data Lower 16bit (RWrn) Monitor 1 data Upper 16bit (RWrn+1) Monitor 2 data Lower 16bit (RWrn+5) Monitor 2 data Upper 16bit (RWrn+6) Respond code...
Page 97: Instruction Codes
3. CC-LINK COMMUNICATION FUNCTIONS 3.6.2 Instruction codes (1) Read instruction codes (0000h to 0A1Fh) Instruction code (RWwn+2) Instruction code execution demand (RYn9) Instruction code execution completion (RXn9) Reading data (RWrn+3) Respond code (RWrn+2) Data read period Set the read instruction code (refer to section 3.5.4 (1)) to Instruction code (RWwn+2) and turn Instruction code execution demand (RYn9) to ON.
Page 98 3. CC-LINK COMMUNICATION FUNCTIONS (2) Write instruction codes (8000h to 911Fh) Instruction code (RWwn+2) Writing data (RWwn+3) Instruction code execution demand (RYn9) Instruction code Write in execution processing Instruction code execution completion (RXn9) Respond code (RWrn+2) Set the write instruction code (refer to section 3.5.4 (2)) to Instruction code (RWwn+2) and the data to be written (data to be executed) to Writing data (RWwn+3) in hexadecimal, and turn Instruction code execution demand (RYn9) to ON.
Page 99: Remote Register-Based Position/Speed Setting
3. CC-LINK COMMUNICATION FUNCTIONS 3.6.3 Remote register-based position/speed setting The functions in this section are usable when Position/speed specifying system selection (RY(n+2)A) is ON (remote register-based position/speed specifying system is selected) with 2 stations occupied. The position command/speed command necessary for positioning can be selected by parameter No.PC30 setting as indicated below.
Page 100 3. CC-LINK COMMUNICATION FUNCTIONS (2) When setting the position command data/point table No. (speed command) Specify the position address with the remote register, and specify the speed command data by specifying the point table No. to use the preset servo motor speed, acceleration time constant and deceleration time constant the speed command data, and execute positioning.
Page 101 3. CC-LINK COMMUNICATION FUNCTIONS (3) When setting the position command data and speed command data Specify the position address and servo motor speed with the remote register, and execute positioning. At this time, use the acceleration time constant and deceleration time constant set in point table No.1. Preset "...
Page 102: Function-By-Function Programming Examples
3. CC-LINK COMMUNICATION FUNCTIONS 3.7 Function-by-function programming examples This section explains specific programming examples for servo operation, monitor, parameter read and write, and others on the basis of the equipment makeup shown in section 3.7.1. 3.7.1 System configuration example As shown below, the CC-Link system master local unit is loaded to run two servo amplifiers (1 station occupied / 2 stations occupied).
Page 103 3. CC-LINK COMMUNICATION FUNCTIONS (3) Relationship of remote I/O (RX, RY) The following shows a relationship between the devices of the programmable controller CPU and the remote I/Os (RX, RY) of the remote device stations. Shaded area shows the devices actually used. Remote device (Station No.1) Programmable...
Page 104 3. CC-LINK COMMUNICATION FUNCTIONS (4) Relationship of remote register (RWw, RWr) The following shows a relationship between the devices of the programmable controller CPU and the remote registers (RWw, RWr) of the remote device stations. Shaded area shows the devices actually used. Remote device (Station No.1) Programmable...
Page 105: Reading The Servo Amplifier Status
3. CC-LINK COMMUNICATION FUNCTIONS 3.7.2 Reading the servo amplifier status When the servo amplifier on station number 1 becomes ready for the remote station communication, Y30 of the output module turns on. The program is for turning on Y30 when CC-Link communication is normal. Checks data link status of station No.1.
Page 106: Writing The Operation Commands
3. CC-LINK COMMUNICATION FUNCTIONS 3.7.3 Writing the operation commands Perform positioning operation of point table No.2 for the servo amplifier of station 2. Start the operation by turning on X20. Checks data link status of station No.1. Servo-on command (RY00) Servo-on command Point table No.
Page 107: Reading The Data
3. CC-LINK COMMUNICATION FUNCTIONS 3.7.4 Reading the data Read various data of the servo amplifier. (1) Reading the monitor value Read the (feedback pulse value) of the servo amplifier of station 2 to D1. Data No. Description H000A Cumulative feedback pulse data (hexadecimal) Read the cumulative feedback pulse monitor by turning on X20.
Page 108 3. CC-LINK COMMUNICATION FUNCTIONS (2) Reading the parameter Read parameter No.PA04 "Function selection A-1" of the servo amplifier of station 2 to D1. Data No. Description H8200 Parameter group selection H2024 Parameter No.PA04 setting (hexadecimal) Read the parameter No.PA04 by turning on X20. The respond code at instruction code execution is set to D2.
Page 109 3. CC-LINK COMMUNICATION FUNCTIONS (3) Reading the alarm definition Read the alarm definition of the servo amplifier of station 2 to D1. Data No. Description H0010 Occurring alarm/warning No. (hexadecimal) Read current alarms by turning on X20. The respond code at instruction code execution is set to D2. Checks data link status of station No.2.
Page 110: Writing The Data
3. CC-LINK COMMUNICATION FUNCTIONS 3.7.5 Writing the data This section explains the programs for writing various data to the servo amplifier. (1) Writing the servo motor speed data of point table Change the servo motor speed data in the point table No.1 of the servo amplifier of station 2 to "100". The following shows a program example for writing data to the servo amplifier when two stations are occupied.
Page 111 3. CC-LINK COMMUNICATION FUNCTIONS (2) Writing the parameter The following shows a program example when two stations are occupied. Change parameter No.PC12 (JOG speed) of the servo amplifier of station 2 to "100". The parameter group PC is specified as follows. Code No.
Page 112 3. CC-LINK COMMUNICATION FUNCTIONS (3) Servo amplifier alarm resetting program examples (a) Deactivate the alarm of the servo amplifier of station 2 by issuing a command from the programmable controller. Reset the servo amplifier on the occurrence of a servo alarm by turning on X20. Checks data link status of station No.2.
Page 113: Operation
3. CC-LINK COMMUNICATION FUNCTIONS 3.7.6 Operation This section explains the operation programs of the servo amplifier. (1) JOG operation Perform JOG operation of the servo amplifier of station 1 and read the "current position" data. Code No. Description H0001 Lower 16-bit data of current position (hexadecimal) H0002 Upper 16-bit data of current position (hexadecimal) Start the forward rotation JOG operation by turning on X22.
Page 114 3. CC-LINK COMMUNICATION FUNCTIONS (2) Remote register-based position data/speed data setting The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 after specifying the position data as "100000" and the speed data as "1000"...
Page 115 3. CC-LINK COMMUNICATION FUNCTIONS (3) Remote register-based point table No. setting (incremental value command system) The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 with incremental values after specifying the point table No.5 in the direct specification mode.
Page 116: Continuous Operation Program Example
3. CC-LINK COMMUNICATION FUNCTIONS 3.8 Continuous operation program example This section shows a program example which includes a series of communication operations from a servo start. The program will be described on the basis of the equipment makeup shown in section 3.8.1, 3.8.3. 3.8.1 System configuration example when 1 station is occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifier (1 station occupied).
Page 117: Program Example When 1 Station Is Occupied
3. CC-LINK COMMUNICATION FUNCTIONS 3.8.2 Program example when 1 station is occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "current position"...
Page 118 3. CC-LINK COMMUNICATION FUNCTIONS Positioning start command Positioning start command Rough Home position position match return completion Point table establishment time 4ms *1 Forward rotation start request Command request time 6ms *1 Forward rotation start request reset Point table No. selection 1 (RY0A) No.selection 1 Point table No.
Page 119: System Configuration Example When 2 Stations Are Occupied
3. CC-LINK COMMUNICATION FUNCTIONS 3.8.3 System configuration example when 2 stations are occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifiers (2 station occupied). Programmable controller Master station Input module Power supply QJ61BT11N QX40 Q62P...
Page 120: Program Example When 2 Stations Are Occupied
3. CC-LINK COMMUNICATION FUNCTIONS 3.8.4 Program example when 2 stations are occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "motor speed"...
Page 121 3. CC-LINK COMMUNICATION FUNCTIONS Positioning start command Position/speed specifying system selection Position/speed setting system changing command (RY2A) Rough Home position position match return completion Writes position command data (K50000) to RWw4, RWw5, and speed data (K100) to RWw6. Turns on position instruction demand (RY20). Turns on speed instruction demand (RY21).
Page 122: Signals And Wiring
4. SIGNALS AND WIRING 4. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.
Page 123: Input Power Supply Circuit
4. SIGNALS AND WIRING 4.1 Input power supply circuit Always connect a magnetic contactor (MC) between the main circuit power supply and L and L of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may CAUTION cause a fire when the servo amplifier malfunctions.
Page 124 4. SIGNALS AND WIRING (2) For 1-phase 200 to 230VAC power supply to MR-J3-10T to MR-J3-70T Forced stop Servo amplifier Servo motor CNP1 1-phase CNP3 (Note 5) 200 to Motor 230VAC (Note 1) CNP2 (Note 2) (Note 3) Encoder Encoder cable 24VDC Forced stop DOCOM...
Page 125 4. SIGNALS AND WIRING (3) MR-J3-10T1 to MR-J3-40T1 Forced stop Servo amplifier Servo motor CNP1 1-phase CNP3 (Note 5) 100 to Blank Motor 120VAC (Note 1) (Note 2) (Note 3) Encoder Encoder cable 24VDC Forced stop DOCOM (Note 4) DOCOM DICOM (Note 4) Trouble...
Page 126 4. SIGNALS AND WIRING (4) MR-J3-60T4 to MR-J3-200T4 Forced stop (Note 6) Stepdown transformer Servo amplifier Servo motor CNP1 3-phase CNP3 (Note 5) 380 to Motor 480VAC (Note 1) CNP2 (Note 2) (Note 3) Encoder Encoder cable 24VDC Forced stop DOCOM (Note 4) DOCOM...
Page 127 4. SIGNALS AND WIRING (5) MR-J3-500T MR-J3-700T Forced stop (Note 6) Power supply of cooling fan Servo amplifier Servo motor 3-phase (Note 5) Built-in 200 to Motor regenerative 230VAC resistor (Note 2) (Note 3) Encoder Encoder cable (Note 1) Cooling fan 24VDC Forced stop DOCOM...
Page 128 4. SIGNALS AND WIRING (6) MR-J3-350T4 to MR-J3-700T4 Forced stop (Note 7) Power supply of cooling fan (Note 6) Stepdown transformer Servo amplifier Servo motor 3-phase (Note 5) Built-in 380 to regenerative Motor 480VAC resistor (Note 2) (Note 3) Encoder Encoder cable (Note 1) Cooling fan...
Page 129 4. SIGNALS AND WIRING (7) MR-J3-11KT to MR-J3-22KT Servo motor Forced thermal relay Trouble stop Servo amplifier Servo motor Dynamic break (Option) 3-phase 380 to Motor 480VAC (Note 5) (Note 2) (Note 1) Regenerative resistor (Note 3) Encoder Encoder cable Cooling fan (Note 6) OHS1...
Page 130 4. SIGNALS AND WIRING (8) MR-J3-11KT4 to MR-J3-22KT4 Servo motor Forced thermal relay Trouble stop (Note 7) Stepdown transformer Servo amplifier Servo amplifier Servo motor Servo motor Dynamic break (Option) 3-phase 200 to Motor 230VAC (Note 5) (Note 2) (Note 2) (Note 1) (Note 1) Regenerative...
Page 131: I/O Signal Connection Diagram
4. SIGNALS AND WIRING 4.2 I/O signal connection diagram Servo amplifier (Note 4) (Note 2) 24VDC power Ready supply DICOM (Note 9) Trouble (Note 6) DOCOM Home position (Note 3, 5) Forced stop return completion Proximity dog 10m or less (Note 9) Forward rotation stroke end (Note 5)
Page 132: Explanation Of Power Supply System
4. SIGNALS AND WIRING 4.3 Explanation of power supply system 4.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to outline drawings in chapter 12. Connection target Abbreviation Description (Application) Supply the following power to L .
Page 133: Power-On Sequence
4. SIGNALS AND WIRING 4.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above section 4.1 using the magnetic contactor with the main circuit power supply (three-phase: L , single-phase: L ). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
Page 134 4. SIGNALS AND WIRING (3) Forced stop Provide an external forced stop circuit to ensure that operation can be stopped and CAUTION power switched off immediately. Make up a circuit that shuts off main circuit power as soon as EMG is turned off at a forced stop. When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop.
Page 135: Cnp1, Cnp2, Cnp3 Wiring Method
4. SIGNALS AND WIRING 4.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to table 14.1 in section 14.9 for the wire sizes used for wiring. MR-J3-500T to more, MR-J3-350T4 or more does not have these connectors. Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3. (1) MR-J3-10T to MR-J3-100T (a) Servo amplifier power supply connectors (Note)
Page 136 4. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L ): 721-2105/026-000 (WAGO) Using this connector enables passing a wire of control circuit power supply. Refer to appendix 3 for details of connector. Twin type connector for CNP2 CNP2 Power supply Rear axis...
Page 137 4. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L ): 721-2105/026-000 (WAGO) Using this connector enables passing a wire of control circuit power supply. Refer to appendix 3 for details of connector. Twin type connector for CNP2 CNP2 Power supply Rear axis...
Page 138 4. SIGNALS AND WIRING (4) Insertion of cable into Molex and WAGO connectors Insertion of cable into 54928-0670, 54928-0520, 54928-0370 (Molex) connectors and 721-207/026-000, 721-205/026-000 and 721-203/026-000 (WAGO) connectors are as follows. The following explains for Molex, however use the same procedures for inserting WAGO connectors as well.
Page 139 4. SIGNALS AND WIRING 2) Cable connection procedure Cable connection lever 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable connection lever and insert the cable in the direction of arrow.
Page 140 4. SIGNALS AND WIRING (b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work. [Unit: mm] Approx.R0.3 Approx.22 Approx.R0.3 2) When using the flat-blade screwdriver - part 1 1) Insert the screwdriver into the square hole.
Page 141 4. SIGNALS AND WIRING 3) When using the flat-blade screwdriver - part 2 1) Insert the screwdriver into the 2) Push the screwdriver in the 3) With the screwdriver pushed, insert the cable in the square window at top of the direction of arrow.
Page 142 4. SIGNALS AND WIRING (5) How to insert the cable into Phoenix Contact connector POINT Do not use a precision driver because the cable cannot be tightened with enough torque. Insertion of cables into Phoenix Contact connector PC4/6-STF-7.62-CRWH or PC4/3-STF-7.62-CRWH is shown as follows.
Page 143: Connectors And Signal Arrangements
4. SIGNALS AND WIRING 4.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. The servo amplifier front view shown is that of the MR-J3-20T or less. Refer to chapter 12 Outline Drawings for the appearances and connector layouts of the other servo amplifiers.
Page 144: Signal (Device) Explanation
4. SIGNALS AND WIRING 4.5 Signal (device) explanation 4.5.1 I/O devices The CN6 connector provides three pins for inputs and three other pins for outputs. Devices assigned to these pins are changeable. To make this change, configure parameter settings of Nos. PD06 to PD11, PD12, and PD14.
Page 145 4. SIGNALS AND WIRING (1) Input device POINT Input devices assigned to the CN6 connector pins cannot be used with the remote input of the CC-Link communication function. Connector Device Symbol Functions/Applications pin No. Forced stop (EMG) is fixed at CN6-1. Assigning this device to any other pin is Forced stop CN6-1 not allowed.
Page 146 4. SIGNALS AND WIRING (2) Output device POINT Output devices assigned to the CN6 connector pins can be used with the remote output of the CC-Link communication function. Connector Device Symbol Functions/Applications pin No. Ready CN6-14 For device details, refer to section 3.5.1 (2). (Note) Trouble CN6-15...
Page 147: Input Signals
4. SIGNALS AND WIRING Connector Device Symbol Functions/Applications pin No. Zero speed ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No.PC17. Example Zero speed is 50r/min OFF level Forward 20r/min 70r/min...
Page 148: Power Supply
4. SIGNALS AND WIRING 4.5.4 Power supply Connector Signal Symbol Functions/Applications pin No. division Digital I/F power supply DICOM CN6-5 Used to input 24VDC (24VDC 10% 150mA) for I/O interface. The input power supply capacity changes depending on the number of I/O interface points to be used.
Page 149: Movement Completion Rough Match In Position
4. SIGNALS AND WIRING 4.6.2 Movement completion rough match in position POINT If an alarm cause, etc. are removed and servo-on occurs after a stop is made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Movement completion (MEND), Rough-match, (CPO) and In position (INP) are turned on.
Page 150 4. SIGNALS AND WIRING (2) Rough match The following timing charts show the relationships between the signal and the position command generated in the servo amplifier. This timing can be changed using parameter No.PC11 (rough match output range). RXn2 turns ON in the servo-on status. Forward rotation start (RYn1) or reverse rotation start (RYn2) 3ms or less...
Page 151: Torque Limit
4. SIGNALS AND WIRING 4.6.3 Torque limit If the torque limit is canceled during servo lock, the servo motor may suddenly CAUTION rotate according to position deviation in respect to the command position. (1) Torque limit and torque By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation torque limit), torque is always limited to the maximum value during operation.
Page 152: Alarm Occurrence Timing Chart
4. SIGNALS AND WIRING 4.7 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting CAUTION operation. As soon as an alarm occurs, turn off Servo-on (RYn0) and power off. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.
Page 153: Interface
4. SIGNALS AND WIRING 4.8 Interface 4.8.1 Internal connection diagram Servo amplifier 24VDC DICOM (Note 1, 2) DOCOM Forced stop Approx.5.6k Note 2 Note 1 Approx.5.6k <Isolated> Differential line VBUS driver output (35mA or less) Servo motor Encoder Note 1. Devices assigned to these pins can be changed in the parameter settings. 2.
Page 154: Detailed Description Of Interfaces
4. SIGNALS AND WIRING 4.8.2 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 4.5.1. Refer to this section and make connection with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
Page 155 4. SIGNALS AND WIRING (3) Encoder output pulse DO-2 (Differential line driver system) (a) Interface Max. output current: 35mA Servo amplifier Servo amplifier Am26LS32 or equivalent High-speed photocoupler (LB, LZ) (LB, LZ) (LBR, LZR) (LBR, LZR) (b) Output pulse Servo motor CCW rotation Time cycle (T) is determined by the settings of parameter No.PA15 and PC19.
Page 156: Source I/O Interfaces
4. SIGNALS AND WIRING 4.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1 Servo amplifier EMG,...
Page 157: Treatment Of Cable Shield External Conductor
4. SIGNALS AND WIRING 4.9 Treatment of cable shield external conductor In the case of the CN2 and CN6 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...
Page 158: Connection Of Servo Amplifier And Servo Motor
4. SIGNALS AND WIRING 4.10 Connection of servo amplifier and servo motor During power-on, do not open or close the motor power line. Otherwise, a WARNING malfunction or faulty may occur. 4.10.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric WARNING shock.
Page 159: Power Supply Cable Wiring Diagrams
4. SIGNALS AND WIRING 4.10.2 Power supply cable wiring diagrams (1) HF-MP service HF-KP series servo motor (a) When cable length is 10m or less 10m or less MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H Servo amplifier Servo motor MR-PWS1CBL M-A2-H CNP3 AWG 19(red) AWG 19(white)
Page 160 4. SIGNALS AND WIRING (2) HF-SP series HC-RP series HC-UP series HC-LP series servo motor POINT B Insert a contact in the direction shown in the figure. If inserted in the wrong direction, the contact is damaged and falls off. Soldered part or Soldered part Pin No.1...
Page 161 4. SIGNALS AND WIRING 2) When the power supply connector and the electromagnetic brake connector are shared. 50m or less Servo amplifier Servo motor 24VDC DOCOM DICOM (Note 2) Electromagnetic Forced brake interlock Trouble stop (MBR) (ALM) (EMG) 24VDC power supply for (Note 1) electromagnetic...
Page 162 4. SIGNALS AND WIRING Power supply connector signal allotment Encoder connector signal allotment MS3102A18-10P Power supply connector signal allotment CM10-R10P MS3102A22-22P CE05-2A22-23PD-B CE05-2A32-17PD-B Terminal Terminal Terminal Signal Signal Signal View a View b View b (earth) (earth) (Note) (Note) Note. For the motor with an electromagnetic brake, supply electromagnetic...
Page 163 4. SIGNALS AND WIRING (3) HA-LP series servo motor (a) Wiring diagrams Refer to section 14.9 for the cables used for wiring. 1) 200V class 50m or less Servo amplifier Servo motor 24VDC Cooling fan (Note 2) DOCOM DICOM (Note 4) Electromagnetic Forced brake interlock...
Page 164 4. SIGNALS AND WIRING 2) 400V class (Note4) Cooling fan power supply 50m or less Servo amplifier Servo motor 24VDC Cooling fan (Note 2) DOCOM DICOM (Note 5) Electromagnetic Forced brake interlock Trouble stop (MBR) (ALM) (EMG) 24VDC power supply for (Note 1) electromagnetic brake...
Page 165 4. SIGNALS AND WIRING (b) Servo motor terminals Encoder connector CM10-R10P Brake connector Terminal box MS3102A10SL-4P Encoder connector signal Terminal Brake connector signal Terminal Signal Signal allotment allotment CM10-R10P MS3102A10SL-4P (Note) (Note) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC).
Page 166 4. SIGNALS AND WIRING Terminal box inside (HA-LP801(4) 12K1(4) 11K1M(4) 15K1M(4) 15K2(4) 22K2(4)) Cooling fan terminal Thermal sensor block terminal block (BU BV BW) M4 screw (OHS1 OHS2) M4 screw Terminal block signal Motor power supply arrangement terminal block Encoder connector (U V W) M8 screw OHS1OHS2 CM10-R10P...
Page 167 4. SIGNALS AND WIRING Terminal box inside (HA-LP25K1) Motor power supply terminal block Encoder connector W) M10 screw CM10-R10P OHS1 OHS2 Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan terminal block BW) M4 screw Earth terminal( ) M6 screw Terminal block signal arrangement BW OHS1 OHS2 4 - 46...
Page 168 4. SIGNALS AND WIRING Signal name Abbreviation Description Connect to the motor output terminals (U, V, W) of the servo amplifier. During power-on, do Power supply U V W not open or close the motor power line. Otherwise, a malfunction or faulty may occur. Supply power which satisfies the following specifications.
Page 169: Servo Motor With An Electromagnetic Brake
4. SIGNALS AND WIRING 4.11 Servo motor with an electromagnetic brake 4.11.1 Safety precautions Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop signal. Contacts must be open when Circuit must be servo-off, when an trouble (ALM)
Page 170: Timing Charts
4. SIGNALS AND WIRING 4.11.2 Timing charts (1) Servo-on (RYn0) command (from controller) ON/OFF Tb [ms] after the servo-on (RYn0) 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.
Page 171 4. SIGNALS AND WIRING (3) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Forward Forward Servo motor speed Electromagnetic brake rotation rotation 0r/min 0r/min (10ms) Base circuit Electromagnetic brake (Note) Electromagnetic operation delay time brake interlock (MBR) (ON) (ON) Yes (OFF) Yes (OFF) Trouble (ON)
Page 172 4. SIGNALS AND WIRING (5) Only main circuit power supply off (control circuit power supply remains on) Dynamic brake Dynamic brake Dynamic brake Dynamic brake (10ms) Electromagnetic brake Electromagnetic brake Forward (Note 1) Servo motor speed rotation Electromagnetic brake Electromagnetic brake 15ms or more 0r/min Base circuit...
Page 173: Wiring Diagrams (Hf-Mp Series Hf-Kp Series Servo Motor)
4. SIGNALS AND WIRING 4.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) POINT For HF-SP series HC-RP series HC-UP series HC-LP series servo motors, refer to section 4.10.2 (2). (1) When cable length is 10m or less 10m or less 24VDC power MR-BKS1CBL M-A1-L supply for...
Page 174: Grounding
4. SIGNALS AND WIRING 4.12 Grounding Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier with the protective earth (PE) of the control box.
Page 175 4. SIGNALS AND WIRING MEMO 4 - 54...
Page 176: Operation
5. OPERATION 5. OPERATION Do not operate the switches with wet hands. You may get an electric shock. WARNING Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc.
Page 177: Wiring Check
5. OPERATION 5.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L ) of the servo amplifier should satisfy the defined specifications.
Page 178: Surrounding Environment
5. OPERATION 2) When regenerative option is used over 5kW for 200V class and 3.5kW for 400V class The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used when wiring is over 5m and under 10m.
Page 179: Startup
5. OPERATION 5.2 Startup 5.2.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off the servo-on (RYn0). 2) Make sure that the Forward rotation start (RYn1) and Reverse rotation start (RYn2) are off. 3) Switch on the main circuit power supply and control circuit power supply.
Page 180: Test Operation
5. OPERATION 5.2.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 5.2.1 for the power on and off methods of the servo amplifier. Test operation of servo motor In this step, confirm that the servo amplifier and servo motor alone in JOG operation of test operate normally.
Page 181: Parameter Setting
5. OPERATION 5.2.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor requires the parameter No.PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (A16) will occur at power-on.
Page 182: Point Table Setting
5. OPERATION 5.2.5 Point table setting Set necessary items to the point table before starting operation. The following table indicates the items that must be set. Name Description Position data Set the position data for movement. Servo motor speed Set the command speed of the servo motor for execution of positioning. Acceleration time constant Set the acceleration time constant.
Page 183: Servo Amplifier Display
5. OPERATION 5.3 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the status of communication with the CC-Link controller at power-on, check the station number, and diagnose a fault at occurrence of an alarm. (1) Display sequence Servo amplifier power ON (Note 3) Waiting for CC-Link communication...
Page 184 5. OPERATION (2) Indication list Indication Status Description Power of the CC-Link master module was switched on at the condition that the power of b # # Waiting for CC-Link CC-Link master module is OFF. communication The CC-Link master module is faulty. The servo was switched on after completion of initialization and the servo amplifier is ready (Note 1) d # # Ready to operate.
Page 185: Automatic Operation Mode
5. OPERATION 5.4 Automatic operation mode 5.4.1 What is automatic operation mode? (1) Command system After selection of preset point tables using the input signals or communication, operation is started by the forward rotation start (RYn1) or reverse rotation start (RYn2). Automatic operation has the absolute value command system, incremental value command system.
Page 186 5. OPERATION (b) Selection of point table Using the input signal or CC-Link, select the point table No. with the remote input and remote register from the command device (controller) such as a personal computer. The following table lists the point table No. selected in response to the remote input. When 2 stations are occupied, the point table No.
Page 187: Automatic Operation Using Point Table
5. OPERATION 5.4.2 Automatic operation using point table (1) Absolute value command system (a) Point table Set the point table values using the MR Configurator, the MR-PRU03 parameter unit or the remote register of CC-Link. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table.
Page 188 5. OPERATION 2) Rotation direction selection (parameter No.PA14) Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) is switched on. Servo motor rotation direction Parameter No.PA14 setting when forward rotation start (RYn1) is switched on CCW rotation with position data CW rotation with...
Page 189 5. OPERATION (2) Incremental value command system (a) Point table Set the point table values using the MR Configurator, the MR-PRU03 parameter unit or the remote register of CC-Link. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table.
Page 190 5. OPERATION 2) Forward rotation direction selection (parameter No.PA14) Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) signal or reverse rotation start (RYn2) signal is switched on. Servo motor rotation direction Parameter No.PA14 setting Forward rotation start (RYn1) ON Reverse rotation start (RYn2) ON CCW rotation (address incremented)
Page 191 5. OPERATION (3) Automatic operation timing chart The timing chart is shown below. Automatic/manual selection (RYn6) Servo-on (RYn0) Point table No. (Note 2) 4ms or more Forward rotation start (RYn1) (Note 2) 4ms or more 6ms or more Reverse rotation start (RYn2) (Note 1) 3ms or less 6ms or more...
Page 192 5. OPERATION (4) Automatic continuous operation POINT This function is valid when the point table is selected using the input signal or the remote input of CC-Link. It cannot be used when the point table No. is selected using the remote register of CC-Link. (a) What is automatic continuous operation? By merely choosing one point table and making a start (RYn1 or RYn2), operation can be performed in accordance with the point tables having consecutive numbers.
Page 193 5. OPERATION 1) Absolute value command specifying system This system is an auxiliary function for point tables to perform automatic operation by specifying the absolute value command or incremental value command. Positioning in single direction The operation example given below assumes that the set values are as indicated in the following table.
Page 194 5. OPERATION Positioning that reverses the direction midway The operation example given below assumes that the set values are as indicated in the following table. Here, the point table No.1 uses the absolute value command system, the point table No.2 the incremental value command system, and the point table No.3 the absolute value system.
Page 195 5. OPERATION 2) Incremental value command system The position data of the incremental value command system is the sum of the position data of the consecutive point tables. The operation example given below assumes that the set values are as indicated in the following table.
Page 196 5. OPERATION (c) Temporary stop/restart When RYn7 is turned ON during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When RYn7 is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (RYn1 or RYn2) is ignored if it is switched on during a temporary stop.
Page 197: Remote Register-Based Position/Speed Setting
5. OPERATION 5.4.3 Remote register-based position/speed setting This operation can be used when 2 stations are occupied. This section explains operation to be performed when the remote register is used to specify the position command data/speed command data. (1) Absolute value command positioning in absolute value command system The position data set in the absolute value command system are used as absolute values in positioning.
Page 198 5. OPERATION Automatic/manual selection (RYn6) Servo-on (RYn0) Position/speed specifying system selection (RY(n 2)A) Incremental value/absolute value selection (RY(n 2)B) Position data Position data 1 Position data 2 (RWwn 4 RWwn 5) Speed data (RWwn 6) Speed data 1 Speed data 2 (Note 2) Position instruction execution demand (RY(n 2)0)
Page 199 5. OPERATION (2) Incremental value command positioning in absolute value command system The position data set in the absolute value command system are used as incremental values in positioning. Set the input devices and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6)
Page 200 5. OPERATION Automatic/manual selection (RYn6) Servo-on (RYn0) Position/speed specifying system selection (RY(n 2)A) Incremental value/absolute value selection (RY(n 2)B) Position data Position data 1 Position data 2 (RWwn 4 RWwn 5) Speed data (RWwn 6) Speed data 1 Speed data 2 (Note 2) Position instruction execution demand (RY(n 2)0)
Page 201 5. OPERATION (3) Positioning in incremental value command system Execute positioning in the incremental value command system. Set the input signals and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON. Remote register-based position/speed Position/speed specifying system selection Turn RY(n 2)A ON.
Page 202 5. OPERATION Automatic/manual selection (RYn6) Servo-on (RYn0) Position/speed specifying system selection (RY(n 2)A) Position data Position data 1 Position data 2 (RWwn 4 RWwn 5) Speed data (RWwn 6) Speed data 1 Speed data 2 (Note 2) Position instruction execution demand (RY(n 2)0) Position instruction execution completion (RX(n 2)0)
Page 203: Manual Operation Mode
5. OPERATION 5.5 Manual operation mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 5.5.1 JOG operation (1) Setting Set the input device and parameters as follows according to the purpose of use. In this case, the point table No.
Page 204: Manual Pulse Generator
5. OPERATION (4) Timing chart Automatic/manual selection (RYn6) Servo-on (RYn0) 100ms Forward rotation start (RYn1) Forward rotation jog Reverse rotation start (RYn2) Reverse rotation jog Forward rotation Servo motor speed 0r/min Reverse rotation Rough match (RXn2) Movement completion (RXnC) Ready (RD) Trouble (ALM) 5.5.2 Manual pulse generator (1) Setting...
Page 205 5. OPERATION (3) Manual pulse generator multiplication (a) Using the parameter for setting Use parameter No.PA05 to set the multiplication ratio of the servo motor rotation to the manual pulse generator rotation. Multiplication ratio of servo motor rotation to Parameter No.PA05 setting Moving distance manual pulse generator rotation 1 time...
Page 206: Manual Home Position Return Mode
5. OPERATION 5.6 Manual home position return mode 5.6.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off.
Page 207: Dog Type Home Position Return
5. OPERATION (1) Home position return types Choose the optimum home position return according to the machine type, etc. Type Home position return method Features General home position return method using a proximity dog. With deceleration started at the front end of a proximity Repeatability of home position return is dog, the position where the first Z-phase signal is given Dog type home position...
Page 208 5. OPERATION (2) Home position return parameter When performing home position return, set each parameter as follows. (a) Choose the home position return method with parameter No.PC02 (Home position return type). Parameter No.PC02 Home position return method 0: Dog type 1: Count type 2: Data setting type 3: Stopper type...
Page 209 5. OPERATION 5.6.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.
Page 210 5. OPERATION (3) Timing chart Automatic/manual selection (RYn6) Selected point table No. (Note) 6ms or more 4ms or more Forward rotation start (RYn1) Reverse rotation start (RYn2) Point table No.1 Point table No.1 deceleration time constant Home position return speed acceleration time parameter No.PC04 constant...
Page 211: Count Type Home Position Return
5. OPERATION 5.6.3 Count type home position return In count type home position return, a motion is made over the distance set in parameter No.PC08 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-phase signal is given after that is defined as a home position.
Page 212 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. (Note) 4ms or more 6ms or more Forward rotation start (RYn1) Reverse rotation start (RYn2) Home position Point table No.1 shift distance Point table No.1 Home position return speed deceleration time constant parameter No.PC06 acceleration time...
Page 213: Data Setting Type Home Position Return
5. OPERATION 5.6.4 Data setting type home position return Data setting type home position return is used when it is desired to determine any position as a home position. JOG operation can be used for movement. (1) Devices, parameters Set the input devices and parameters as follows. Item Device/Parameter used Description...
Page 214: Stopper Type Home Position Return
5. OPERATION 5.6.5 Stopper type home position return In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation to make a home position return and that position is defined as a home position. (1) Devices, parameters Set the input devices and parameters as follows.
Page 215 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. (Note 1) 6ms or more Forward rotation start (RYn1) 4ms or more Reverse rotation start (RYn2) Torque limit value Parameter No.PC35 (Note 3) Parameter No.PC10 Parameter No.PC35 Home position address Point table No.1 Home position return speed parameter No.PC07...
Page 216: Home Position Ignorance (Servo-On Position Defined As Home Position)
5. OPERATION 5.6.6 Home position ignorance (servo-on position defined as home position) The position where servo is switched on is defined as a home position. POINT When executing this home position return, changing to the home position return mode is not necessary. (1) Devices, parameter Set the input devices and parameter as follows.
Page 217: Dog Type Rear End Reference Home Position Return
5. OPERATION 5.6.7 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the rear end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 400 pulses will occur in the home position.
Page 218 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. 4ms or more (Note) Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Moving distance after proximity dog Home position return speed Home position shift distance Forward Creep speed rotation...
Page 219: Count Type Front End Reference Home Position Return
5. OPERATION 5.6.8 Count type front end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the front end of a proximity dog. Hence, if a home position return is made at the home position return speed of 100r/min, an error of 400 pulses will occur in the home position.
Page 220 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. 4ms or more (Note) Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Moving distance after proximity dog Home position return speed Home position shift distance Forward Creep speed rotation...
Page 221: Dog Cradle Type Home Position Return
5. OPERATION 5.6.9 Dog cradle type home position return The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Device/Parameter used Description...
Page 222 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. 4ms or more (Note) Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Home position return speed Home position shift distance Forward Creep speed rotation Servo motor speed 0r/min 3ms or less Reverse...
Page 223: Dog Type First Z-Phase Reference Home Position Return
5. OPERATION 5.6.10 Dog type first Z-phase reference home position return After the proximity dog front end is detected, the current position moves in the reverse direction at creep speed. After this moving away from the proximity dog, the home position is determined to be where the first Z- phase pulse is issued.
Page 224 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. 4ms or more (Note) Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Home position return speed Home position shift distance Forward Home position address parameter No.PC07 rotation Servo motor speed 0r/min...
Page 225: Dog Type Front End Reference Home Position Return Method
5. OPERATION 5.6.11 Dog type front end reference home position return method The home position is determined to be the position of the front end of the proximity dog. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Device/Parameter used Description...
Page 226 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. 4ms or more (Note) Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Home position return speed Forward Moving distance after proximity dog rotation Servo motor speed Home position shift distance 0r/min 3ms or less...
Page 227: Dogless Z-Phase Reference Home Position Return Method
5. OPERATION 5.6.12 Dogless Z-phase reference home position return method The home position is determined to be where the first Z-phase pulse is issued after the home position return is started. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Device/Parameter used Description...
Page 228 5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. 4ms or more (Note) Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Home position return speed Forward Home position shift distance rotation Servo motor speed 0r/min 3ms or less Reverse...
Page 229: Home Position Return Automatic Return Function
5. OPERATION 5.6.13 Home position return automatic return function If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this function starts home position return after making a return to the position where the home position return can be made.
Page 230: Automatic Positioning Function To The Home Position
5. OPERATION 5.6.14 Automatic positioning function to the home position POINT You cannot perform automatic positioning from outside the position data setting range to the home position. In this case, make a home position return again using a manual home position return. If this function is used when returning to the home position again after performing a manual home position return after a power-on and deciding the home position, automatic positioning can be carried out to the home position at high speed.
Page 231: Roll Feed Display Function In Roll Feed Mode
5. OPERATION 5.7 Roll feed display function in roll feed mode With the roll feed display function, the servo amplifier can operate in the roll feed mode. The roll feed mode uses the incremental system. (1) Parameter settings Digit to Setting Name Setting item...
Page 232: Absolute Position Detection System
5. OPERATION 5.8 Absolute position detection system If an absolute position erase alarm (A25) or an absolute position counter warning CAUTION (AE3) has occurred, always perform home position setting again. Not doing so may cause unexpected operation. POINT If the encoder cable is disconnected, absolute position data will be lost in the following servo motor series.
Page 233 5. OPERATION (3) Structure Component Description Servo amplifier Use standard models. Servo motor Battery MR-J3BAT Encoder cable Use a standard model. (Refer to section 14.1.) (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
Page 234 5. OPERATION (a) For MR-J3-350T or less MR-J3-200T4 or less POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
Page 235 5. OPERATION MEMO 5 - 60...
Page 236: Parameters
6. PARAMETERS 6. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.
Page 237: Parameter Write Inhibit
6. PARAMETERS 6.1.2 Parameter write inhibit Parameter Initial Unit Setting range value Symbol Name PA19 *BLK Parameter write inhibit 000Ch Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings.
Page 238: Selection Of Command System
6. PARAMETERS 6.1.3 Selection of command system Parameter Initial Unit Setting range value Symbol Name PA01 *STY Control mode 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Select the command system. Parameter No.PA01 0 0 0 Selection of command system...
Page 239: Using Absolute Position Detection System
6. PARAMETERS 6.1.5 Using absolute position detection system Parameter Initial Unit Setting range value Symbol Name PA03 *ABS Absolute position detection system 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting.
Page 240: Feeding Function Selection
6. PARAMETERS 6.1.7 Feeding function selection Parameter Initial Unit Setting range value Symbol Name PA05 *FTY Feeding function selection 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Select the feed length multiplication and the manual pulse generator input multiplication. Parameter No.PA05 Feed length Position data input range [mm]...
Page 241: Electronic Gear
6. PARAMETERS 6.1.8 Electronic gear Parameter Initial Unit Setting range value Symbol Name PA06 *CMX Electronic gear numerator 0 to 65535 PA07 *CDV Electronic gear denominator 1 to 65535 False setting will result in unexpected fast rotation, causing injury. CAUTION POINT This parameter is made valid when power is switched off, then on after setting.
Page 242: Auto Tuning
6. PARAMETERS r=160[mm] (b) Conveyor setting example Machine specifications Pulley diameter: r 160 [mm] Servo motor 262144[pulse/rev] Reduction ratio: n Servo motor resolution: Pt 262144 [pulse/rev] n=NL/NM=1/3 262144 32768 262144 167551.61 20944 1000 1/3 160 1000 Reduce CMX and CDV to the setting range or less, and round off the first decimal place. Hence, set 32768 to CMX and 20944 to CDV.
Page 243: In-Position Range
6. PARAMETERS (2) Auto tuning response (parameter No.PA09) If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value. Guideline for machine Guideline for machine Setting Response Setting Response...
Page 244: Torque Limit
6. PARAMETERS 6.1.11 Torque limit Parameter Initial Unit Setting range value Symbol Name PA11 Forward rotation torque limit 100.0 0 to 100.0 PA12 Reverse rotation torque limit 100.0 0 to 100.0 The torque generated by the servo motor can be limited. (1) Forward rotation torque limit (parameter No.PA11) Set this parameter on the assumption that the maximum torque is 100[%].
Page 245: Selection Of Servo Motor Rotation Direction
6. PARAMETERS 6.1.12 Selection of servo motor rotation direction Parameter Initial Unit Setting range value Symbol Name PA14 *POL Rotation direction selection POINT This parameter is made valid when power is switched off, then on after setting. Select servo motor rotation direction relative to the input pulse train. Servo Motor Rotation Direction Parameter No.PA14 Forward rotation start (Ryn1)
Page 246 6. PARAMETERS (1) For output pulse designation Set " " (initial value) in parameter No.PC19. Set the number of pulses per servo motor revolution. Output pulse set value [pulses/rev] For instance, set "5600" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below.
Page 247: Gain/Filter Parameters (No.pb )
6. PARAMETERS 6.2 Gain/filter parameters (No.PB 6.2.1 Parameter list Symbol Name Initial value Unit PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h PB02 VRFT Vibration suppression control tuning mode 0000h (Advanced vibration suppression control) PB03 For manufacturer setting 0000h PB04 Feed forward gain PB05...
Page 248: Detail List
6. PARAMETERS 6.2.2 Detail list Setting Symbol Name and function Initial value Unit range PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatically changes the machine resonance suppression filter 1 (parameter No.PB13) and notch shape selection (parameter No.PB14).
Page 249 6. PARAMETERS Setting Symbol Name and function Initial value Unit range PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression 0000h control) The vibration suppression is valid when the parameter No.PA08 (auto tuning) setting is " 2" or " 3".
Page 250 6. PARAMETERS Setting Symbol Name and function Initial value Unit range PB05 For manufacturer setting Do not change this value by any means. PB06 Ratio of load inertia moment to servo motor inertia moment Multiplier Used to set the ratio of the load inertia moment to the servo motor shaft inertia ( 1) moment.
Page 251 6. PARAMETERS Setting Symbol Name and function Initial value Unit range PB14 NHQ1 Notch shape selection 1 0000h Refer to Used to selection the machine resonance suppression filter 1. name and function column. Notch depth selection Setting value Depth Gain Deep -40dB -14dB...
Page 252 6. PARAMETERS Setting Symbol Name and function Initial value Unit range PB18 Low-pass filter 3141 rad/s Set the low-pass filter. Setting parameter No.PB23 (low-pass filter selection) to " " 18000 automatically changes this parameter. When parameter No.PB23 is set to " ", this parameter can be set manually.
Page 253 6. PARAMETERS Setting Symbol Name and function Initial value Unit range PB25 For manufacturer setting 0000h Do not change this value by any means. PB26 *CDP Gain changing selection 0000h Refer to Select the gain changing condition. (Refer to section 10.6.) name and function column.
Page 254 6. PARAMETERS Setting Symbol Name and function Initial value Unit range PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 100.0 setting is "...
Page 255: Extension Setting Parameters (No.pc )
6. PARAMETERS 6.3 Extension setting parameters (No.PC 6.3.1 Parameter list Symbol Name and function Initial value Unit PC01 For manufacturer setting 0000h PC02 *ZTY Home position return type 0000h PC03 *ZDIR Home position return direction 0001h PC04 Home position return speed r/min PC05 Creep speed...
Page 256: Detail List
6. PARAMETERS Symbol Name and function Initial value Unit PC49 For manufacturer setting 0000h PC50 0000h 6.3.2 Detail list Symbol Name and function Initial value Unit Setting range PC01 For manufacturer setting 0000h Do not change this value by any means. PC02 *ZTY Home position return type...
Page 257 6. PARAMETERS Symbol Name and function Initial value Unit Setting range PC10 Stopper type home position return torque limit value 15.0 Used to set the torque limit value relative to the max. torque in [%] in stopper type home position return. (Refer to section 5.6.5.) 100.0 PC11 Rough match output range...
Page 258 6. PARAMETERS Symbol Name and function Initial value Unit Setting range PC19 *ENRS Encoder output pulse selection 0000h Refer to Use to select the, encoder output pulse direction and encoder output name and pulse setting. function column. Encoder output pulse phase changing Changes the phases of A, B-phase encoder pulses output .
Page 259 6. PARAMETERS Symbol Name and function Initial value Unit Setting range PC23 For manufacturer setting 0000h Do not change this value by any means. PC24 *COP3 Function selection C-3 0000h Refer to Select the unit of the in-position range. name and function 0 0 0 column.
Page 260 6. PARAMETERS Symbol Name and function Initial value Unit Setting range PC29 For manufacturer setting 0000h Do not change this value by any means PC30 *DSS Remote register-based position/speed specifying system selection 0000h Refer to This parameter is made valid when Position/speed specification selection name and (RY(n 2)A) is turned ON with 2 stations occupied.
Page 261 6. PARAMETERS Symbol Name and function Initial value Unit Setting range Position range output address PC37 *LPPL 999999 Used to set the address increment side position range output address. Set PC38 *LPPH the same sign to parameters No.PC37 and PC38. Setting of different signs 999999 will result in a parameter error.
Page 262: S-Pattern Acceleration/Deceleration
6. PARAMETERS 6.3.3 S-pattern acceleration/deceleration In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern acceleration/ deceleration time constant (parameter No.PC13), a smooth start/stop can be made. When the S-pattern time constant is set, smooth positioning is executed as shown below. Note that the time equivalent to the S-pattern time constant setting increases until positioning (RXnC) is complete.
Page 263: Software Limit
6. PARAMETERS 6.3.6 Software limit A limit stop using a software limit (parameter No.PC31 to PC34) is made as in stroke end operation. When a motion goes beyond the setting range, the motor is stopped and servo-locked. This function is made valid at power-on but made invalid during home position return.
Page 264: I/O Setting Parameters (No.pd )
6. PARAMETERS 6.4 I/O setting parameters (No.PD 6.4.1 Parameter list Symbol Name Initial value Unit PD01 *DIA1 Input signal automatic ON selection 1 0000h PD02 For manufacturer setting 0000h PD03 *DIA3 Input signal automatic ON selection 3 0000h PD04 *DIA4 Input signal automatic ON selection 4 0000h PD05...
Page 265: Detail List
6. PARAMETERS 6.4.2 Detail list Initial Setting Symbol Name and function Unit value range PD01 *DIA1 Input signal automatic ON selection 1 0000h Refer to Select the input devices to be automatically turned ON. name and part is for manufacturer setting. Do not set the value by any means. function column.
Page 266 6. PARAMETERS Initial Setting Symbol Name and function Unit value range PD03 *DIA3 Input signal automatic ON selection 3 0000h Refer to Select the input devices to be automatically turned ON. name and part is for manufacturer setting. Do not set the value by any means. function column.
Page 267 6. PARAMETERS Initial Setting Symbol Name and function Unit value range PD06 *DI2 Output signal device selection 2 (CN6-2) 002Bh Refer to Any input device can be assigned to the CN6-2 pin. name and function column. Select the input device of the CN6-2 pin The devices that can be assigned are indicated in the following table.
Page 268 6. PARAMETERS Initial Setting Symbol Name and function Unit value range PD09 *DO1 Output signal device selection 1 (CN6-14) 0002h Refer to Any output signal can be assigned to the CN6-14 pin. name and function column. Select the output device of the CN6-14 pin The devices that can be assigned are indicated in the following table.
Page 269 6. PARAMETERS Initial Setting Symbol Name and function Unit value range PD11 *DO3 Output signal device selection 3 (CN6-16) 0024h Refer to Any output signal can be assigned to the CN6-16 pin. name and The devices that can be assigned and the setting method are the same as in function parameter No.PD09.
Page 270 6. PARAMETERS Initial Setting Symbol Name and function Unit value range PD14 DIN3 External DI function selection 3 0800h Refer to This function sets any signal imported from the CN6 connector. name and part is for manufacturer setting. Do not set the value by any means. function column.
Page 271 6. PARAMETERS Initial Setting Symbol Name and function Unit value range PD20 *DOP1 Function selection D-1 0010h Refer to Select the stop processing at forward rotation stroke end (LSN)/reverse rotation name and stroke end (LSN) OFF and the base circuit status at reset (RY(N 1)A or function RY(n 3)A) ON.
Page 272 6. PARAMETERS Initial Setting Symbol Name and function Unit value range PD24 *DOP5 Function selection D-5 0000h Select the output status of the warning (WNG). Selection of output device at warning occurrence Select the warning (RXnA) and trouble (RX(n+1)A or RX(n+3)A) output status at warning occurrence.
Page 273: Stopping Method When The Forward Stroke End (Lsp) Or Reverse Stroke End (Lsn) Is Valid
6. PARAMETERS 6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid The setting of the first digit of parameter No.PD20 enables to select a stopping method of the servo motor when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns off. Parameter No.PD20 Stopping method used when forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) is valid...
Page 274: Stopping Method When A Software Limit Is Detected
6. PARAMETERS 6.4.4 Stopping method when a software limit is detected A stopping method of the servo motor when a software limit (parameter No.PC31 to PC34) is detected can be selected. The software limit imposes a limit on the command position, which is controlled in the servo amplifier. Therefore, actual stop position does not reach to the software limit set position.
Page 275 6. PARAMETERS MEMO 6 - 40...
Page 276: Mr Configurator
7. MR Configurator 7. MR Configurator The MR Configurator uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. 7.1 Specifications Item Description The following table shows MR Configurator software version for each servo amplifier. MR Configurator Compatible servo amplifier 100V class...
Page 277: System Configuration
7. MR Configurator 7.2 System configuration (1) Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Equipment (Note 1) Description IBM PC/AT compatible where the English version of Windows 98, Windows Windows 2000 Professional, Windows XP Professional, Windows...
Page 278 7. MR Configurator (2) Connection with servo amplifier (a) For use of USB Personal computer Servo amplifier USB cable To USB MR-J3USBCBL3M connector (Option) (b) For use of RS-422 Personal computer Servo amplifier RS-422/232C conversion cable To RS-232C DSV-CABV connector (Diatrend) (c) For use of RS-422 to make multidrop connection Servo amplifier...
Page 279: Station Selection
7. MR Configurator 7.3 Station selection Click "Setup" on the menu bar and click "System settings" on the menu. When the above choices are made, the following window appears. (1) Station number selection Choose the station number in the combo box ( a) ). POINT This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication.
Page 280: Parameters
7. MR Configurator 7.4 Parameters Click "Parameters" on the menu bar and click "Parameter list" on the menu. When the above choices are made, the following window appears. k) l) (1) Parameter value write ( a) ) Click the parameter whose setting was changed and press the "Write" button to write the new parameter setting to the servo amplifier.
Page 281 7. MR Configurator (4) Parameter value batch-write ( d) ) Click the "Write All" button to write all parameter values to the servo amplifier. (5) Parameter default value indication ( e) ) Click the "Set to default" button to show the initial value of each parameter. (6) Basic settings for parameters ( g) ) Used to make the basic settings such as control mode selection and absolute position detection system selection.
Page 282: Point Table
7. MR Configurator 7.5 Point table POINT The value of the parameter No. PA05 set on the parameter setting screen is not engaged with the STM (feed length multiplication) value on the point table list screen. Set the STM (feed length multiplication) value to the same as set in the parameter No.
Page 283 7. MR Configurator (5) Point table data insertion ( e) ) Click the "Insert" button to insert one block of data into the position before the point table No. chosen. The blocks after the chosen point table No. are shifted down one by one. (6) Point table data deletion ( f) ) Click the "Delete"...
Page 284: Device Assignment Method
7. MR Configurator 7.6 Device assignment method POINT To use a device as an external I/O signal, the settings for the parameter No. PD12 and PD14 are required after the device is assigned according to the device setting described below. (1) How to open the setting screen Click "Parameters"...
Page 285 7. MR Configurator (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the servo amplifier displays the pin assignment status of the servo amplifier. 1) Read of function assignment ( a) ) Click the "Read" button reads and displays all functions assigned to the pins from the servo amplifier. 2) Write of function assignment ( b) ) Click the "Write"...
Page 286 7. MR Configurator (b) DIDO function display window screen This screen is used to select the device assigned to the pins. The functions displayed below * and * are assignable. Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want to assign in the DIDO device setting window.
Page 287 7. MR Configurator (c) Function device assignment checking auto ON setting display Click the "Assignment check / auto ON setting" button in the DIDO function display window displays the following window. The assigned functions are indicated by. The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell.
Page 288: Test Operation
7. MR Configurator 7.7 Test operation When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) CAUTION operates. If any operational fault has occurred, stop operation using the forced stop (EMG). 7.7.1 Jog operation POINT For the program operation, refer to the manual of MR Configurator.
Page 289 7. MR Configurator (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed" input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the "Accel/decel time" input field and press the enter key. (3) Start button operation selection Check the check box for operating the servo motor only while pressing the button.
Page 290: Positioning Operation
7. MR Configurator 7.7.2 Positioning operation POINT The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and DOCOM.
Page 291 7. MR Configurator (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed" input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the "Accel/decel time" input field and press the enter key. (3) Moving distance setting ( c) ) Enter a new value into the "Move distance"...
Page 292 7. MR Configurator (10) Pulse move distance unit selection (k) Select with the option buttons whether the moving distance set is in the command input pulse unit or in the encoder pulse unit. (11) Servo motor software forced stop (1)) Click the "Software forced stop"...
Page 293: Motor-Less Operation
7. MR Configurator 7.7.3 Motor-less operation POINT When this operation is used in an absolute position detection system, the home position cannot be restored properly. Without a servo motor being connected, the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response to the external I/O signals.
Page 294: Output Signal (Do) Forced Output
7. MR Configurator 7.7.4 Output signal (DO) forced output POINT When an alarm occurs, the DO forced output is automatically canceled. Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal. Click "Test" on the menu bar and click "Forced output" on the menu. Clicking displays the confirmation window for switching to the test operation mode.
Page 295: Single-Step Feed
7. MR Configurator (1) Signal ON/OFF setting ( a), b) ) Choose the signal name or pin number and click the "ON" or "OFF" button to write the corresponding signal status to the servo amplifier. (2) DO forced output window closing ( c) ) Click the "Close"...
Page 296 7. MR Configurator Click the "OK" button to display the setting screen of the Single-step feed. During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed. After confirming that the operation is in the stop status, click the "OK" button. (1) Point table No.
Page 297 7. MR Configurator (7) Servo motor software forced stop ( f) ) Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software forced stop" button is enabled, the "Start" button cannot be used. Click the "Software forced stop" button again to make the "Start"...
Page 298: Alarm
7. MR Configurator 7.8 Alarm 7.8.1 Alarm display POINT If a menu is clicked or any other operation is performed during alarm occurrence, the following message window appears. The example given here is the window that indicates an occurrence of Encoder error 1 (A16). The current alarm can be displayed.
Page 299: Batch Display Of Data At Alarm Occurrence
7. MR Configurator (1) Current alarm display The window shows the alarm number, name, cause and occurrence time. The following example is the window that indicates an occurrence of Encoder error 1 (A16). (2) Alarm reset ( a) ) Click the "Reset alarm" button to reset the current alarm and clear alarms on the window. The alarm at this time is stored as the latest alarm.
Page 300 7. MR Configurator Click the "Read" button to read the monitor data at error occurrence from the servo amplifier. Read results are displayed as follows. 7 - 25...
Page 301: Alarm History
7. MR Configurator 7.8.3 Alarm history Click "Alarm" on the menu bar and click "History" on the menu. When the above choices are made, the following window appears. (1) Alarm history display The most recent six alarms are displayed. The smaller numbers indicate newer alarms. (2) Alarm history clear ( a) ) Click the "Clear"...
Page 302: Parameter Unit (Mr-Pru03)
8. PARAMETER UNIT (MR-PRU03) 8. PARAMETER UNIT (MR-PRU03) POINT Do not use MR-PRU03 parameter unit and MR Configurator together. Perform simple data setting, test operation, parameter setting, etc. without MR Configurator by connecting the MR-PRU03 parameter unit to the servo amplifier. 8 - 1...
Page 303: External Appearance And Key Explanations
8. PARAMETER UNIT (MR-PRU03) 8.1 External appearance and key explanations This section gives the external appearance and explanations of the keys. Key explanations Monitor mode key Used to display the monitor screen. Alarm/diagnosis mode ALM/ Display Used to display the alarm/DO forced output/diagnosis selection LCD (16 characters x 4 lines) screen.
Page 304: Specifications
8. PARAMETER UNIT (MR-PRU03) 8.2 Specifications Item Description Model MR-PRU03 Power supply Supplied from the servo amplifier Basic setting parameters, Gain/filter parameters, Extension setting Parameter mode parameters, I/O setting parameters Current position, Command position, Command remaining distance, Point table No., Feedback pulse value, Servo motor speed, Droop pulse value, Monitor mode (Status display) Regenerative load factor, Effective load factor, Peak load factor, Instantaneous torque, Within one-revolution position, ABS counter, Load...
Page 305: Connection With Servo Amplifier
8. PARAMETER UNIT (MR-PRU03) 8.4 Connection with servo amplifier 8.4.1 Single axis (1) Configuration diagram Operate the single-axis servo amplifier. It is recommended to use the following cable. Servo amplifier Parameter unit (MR-PRU03) 10BASE-T cable, etc. (EIA568-compliant cable) (2) Cable internal wiring diagram Parameter unit Servo amplifier (MR-PRU03)
Page 306: Multidrop Connection
8. PARAMETER UNIT (MR-PRU03) 8.4.2 Multidrop connection (1) Configuration diagram Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier Servo amplifier Servo amplifier Parameter unit (MR-PRU03) (Note 2) (Note 2) (Note 2) (Note 1)
Page 307 8. PARAMETER UNIT (MR-PRU03) (2) Cable internal wiring diagram Wire the cables as shown below. (Note 3) 30m or less (Note 1) (Note 1) (Note 1, 7) Axis 2 servo amplifier Axis 1 servo amplifier Axis n servo amplifier CN3 connector CN3 connector CN3 connector (RJ45 connector)
Page 308: Display
8. PARAMETER UNIT (MR-PRU03) 8.5 Display Connect the MR-PRU03 parameter unit to the servo amplifier, and turn ON the power of the servo amplifier. In this section, the screen transition of the MR-PRU03 parameter unit is explained, together with the operation procedure in each mode.
Page 309: Mr-Pru03 Parameter Unit Setting
8. PARAMETER UNIT (MR-PRU03) 8.5.2 MR-PRU03 parameter unit setting Set and enter the station number. MR-PRU03 Station number (e.g. To enter 31th axis) parameter unit setting Baud rate selection Press the " " keys to select, and press the " "...
Page 310: Monitor Mode (Status Display)
8. PARAMETER UNIT (MR-PRU03) 8.5.3 Monitor mode (status display) (1) Monitor display The servo status during operation is shown on the display. Refer to (2) in this section for details. 11. Regenerative load ratio 1. Current position 12. Effective load ratio 2.
Page 311 8. PARAMETER UNIT (MR-PRU03) (2) Monitor display list The following table lists the items and descriptions of monitor display. Display on Status display parameter Unit Description Display range unit The current position from the machine home position of 0 is 9999999 to Current position Cur posit...
Page 312: Alarm/Diagnostic Mode
8. PARAMETER UNIT (MR-PRU03) 8.5.4 Alarm/diagnostic mode (1) Alarm display The flowchart below shows the procedure of settings involving alarms, alarm history, external I/O signal (DIDO) display, device and diagnosis. ALM/ Current alarm When parameter error (A37) (When undervoltage (A10) occurred.) Alarm occurred.
Page 313 8. PARAMETER UNIT (MR-PRU03) (2) Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history before starting operation. ALM/ Select "ALM Hist".
Page 314: Parameter Mode
8. PARAMETER UNIT (MR-PRU03) 8.5.5 Parameter mode The flowchart below shows the procedure for setting parameters. DATA PARAM Select a parameter group. e.g. To set setting e.g. To select the e.g. To select value 1234 gain/filter parameter, parameter No.PB10, " "...
Page 315: Point Table Mode
8. PARAMETER UNIT (MR-PRU03) 8.5.6 Point table mode The flowchart below shows the procedure for setting point table data. DATA e.g. To set setting SHIFT PARAM Select an item with value "4567.89", e.g. To set point press: " " table No."255" keys press: or numeric keys.
Page 316: Test Operation Mode
8. PARAMETER UNIT (MR-PRU03) 8.5.7 Test operation mode When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) CAUTION operates. If any operational fault has occurred, stop operation using the forced stop (EMG). POINT Test operation cannot be executed without turning the servo OFF.
Page 317 8. PARAMETER UNIT (MR-PRU03) (1) Jog operation Jog operation can be performed when there is no command from the external command device. Connect EMG-DOCOM to start jog operation. (a) Operation/cancel You can change the operation conditions with the parameter unit. The initial conditions and setting ranges for operation are listed below.
Page 318 8. PARAMETER UNIT (MR-PRU03) (2) Positioning operation Positioning operation can be performed once when there is no command from the external command device. Connect EMG-DOCOM to start positioning operation. (a) Operation/cancel You can change the operation conditions with the parameter unit. The initial conditions and setting ranges for operation are listed below.
Page 319 8. PARAMETER UNIT (MR-PRU03) If the communication cable is disconnected during positioning operation, the servo motor will come to a sudden stop. (b) Status display You can monitor the status display even during positioning operation. At this time, the "FWD", "REV" and "STOP"...
Page 320: Error Message List
8. PARAMETER UNIT (MR-PRU03) (5) Single-step feed Operation is performed in accordance with the preset point table No. Connect EMG-DOCOM to start single-step feed. The following shows the operation condition settings and the operation procedures. e.g. To select point table No.255, press: Single-step feed 2 5 5...
Page 321 8. PARAMETER UNIT (MR-PRU03) (2) Messages Message Description Valid parameters were written when power is off. The MR-PRU03 parameter unit was used to set a station number and perform transition during the test operation mode. Operation mode is the test operation mode. The test mode was changed due to external factor.
Page 322: General Gain Adjustment
9 GENERAL GAIN ADJUSTMENT 9. GENERAL GAIN ADJUSTMENT 9.1 Different adjustment methods 9.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this order.
Page 323: Adjustment Using Mr Configurator
9. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Used when you want to match Interpolation made for 2 or more the position gain (PG1) axes? Interpolation mode between 2 or more axes. Normally not used for other purposes.
Page 324 9. GENERAL GAIN ADJUSTMENT 9.2 Auto tuning 9.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.
Page 325: Auto Tuning Mode Operation
9. GENERAL GAIN ADJUSTMENT 9.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia Automatic setting moment Encoder Loop gains Command Current Servo PG1,VG1 control motor PG2,VG2,VIC Current feedback Real-time auto Position/speed Set 0 or 1 to turn on. tuning section feedback Load inertia...
Page 326: Adjustment Procedure By Auto Tuning
9. GENERAL GAIN ADJUSTMENT 9.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
Page 327: Response Level Setting In Auto Tuning Mode
9. GENERAL GAIN ADJUSTMENT 9.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.PA09) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration.
Page 328: Manual Mode 1 (Simple Manual Adjustment)
9. GENERAL GAIN ADJUSTMENT 9.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode (parameter No.PB01) or machine resonance suppression filter (parameter No.PB13 to PB16) may be used to suppress machine resonance.
Page 329 9. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (parameter No.PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Page 330 9. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment. Parameter No. Abbreviation Name PB06 Ratio of load inertia moment to servo motor inertia moment PB07 Model loop gain PB08 Position loop gain PB09 Speed loop gain PB10...
Page 331 9. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (VG2: parameter No.PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Page 332: Interpolation Mode
9. GENERAL GAIN ADJUSTMENT 9.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command track ability.
Page 333: Differences Between Melservo-J2-Super And Melservo-J3 In Auto Tuning
9. GENERAL GAIN ADJUSTMENT 9.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning To meet higher response demands, the MELSERVO-J3 series has been changed in response level setting range from the MR-J2-Super. The following table lists comparison of the response level setting.
Page 334: Special Adjustment Functions
10. SPECIAL ADJUSTMENT FUNCTIONS 10. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 9. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Page 335 10. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No.PB01). Parameter No.PB01 0 0 0 Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter Filter OFF (Note) Parameter No.PB13 Filter tuning mode Parameter No.PB14 Manual mode Note.
Page 336 10. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning adjustment Operation Is the target response reached? Increase the response setting. Has vibration or unusual noise occurred? Execute or re-execute adaptive tuning. (Set parameter No.PB01 to "0001".) Tuning ends automatically after the If assumption fails after tuning is executed at predetermined period of time.
Page 337: Machine Resonance Suppression Filter
10. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds. When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated.
Page 338 10. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No.PB13, PB14) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 (parameter No.PB13, PB14) When you have made adaptive filter tuning mode (parameter No.PB01) "manual mode", set up the machine resonance suppression filter 1 becomes effective.
Page 339: Advanced Vibration Suppression Control
10. SPECIAL ADJUSTMENT FUNCTIONS 10.4 Advanced vibration suppression control (1) Operation Vibration suppression control is used to further suppress machine side vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake.
Page 340 10. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure Vibration suppression control tuning adjustment Operation Is the target response reached? Increase the response setting. Has vibration of workpiece end/device increased? Stop operation. Execute or re-execute vibration suppression control tuning. (Set parameter No.PB02 to "0001".) Resume operation.
Page 341 10. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work side vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibration frequency (parameter No.PB19) and vibration suppression control resonance frequency (parameter No.PB20) to set vibration suppression control manually.
Page 342 10. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine side vibration does not show up in motor side vibration, the setting of the motor side vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external FFT device, do not set the same value but set different values to improve the vibration suppression performance.
Page 343: Low-Pass Filter
10. SPECIAL ADJUSTMENT FUNCTIONS 10.5 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command.
Page 344: Function Block Diagram
10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.2 Function block diagram The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection CDP (parameter No.PB26) and gain changing condition CDS (parameter No.PB27).
Page 345: Parameters
10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.3 Parameters When using the gain changing function, always set " 3" in parameter No.PA08 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
Page 346 10. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No.PB06 to PB10 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed integral compensation to be changed.
Page 347: Gain Changing Operation
10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by input device (a) Setting Parameter Abbreviation Name Setting Unit PB07 Model loop gain rad/s Ratio of load inertia moment to servo motor Multiplier PB06 inertia moment...
Page 348 10. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter Abbreviation Name Setting Unit PB07 Model loop gain rad/s Ratio of load inertia moment to servo motor Multiplier PB06 inertia moment ( 1) PB08 Position loop gain rad/s PB09 Speed loop gain...
Page 349 10. SPECIAL ADJUSTMENT FUNCTIONS MEMO 10 - 16...
Page 350: Troubleshooting
11. TROUBLESHOOTING 11. TROUBLESHOOTING 11.1 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the MR Configurator, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.
Page 351: Operation At Error Occurrence
11. TROUBLESHOOTING 11.2 Operation at error occurrence An error occurring during operation will result in any of the statuses indicated in the following table. Operation mode Error location Description Test operation CC-Link operation Servo side alarm Servo operation Stop Stop occurrence CC-Link data communication Continued...
Page 352: When Alarm Or Warning Has Occurred
11. TROUBLESHOOTING 11.4 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (RYn0) at occurrence of an alarm. 11.4.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to section 11.4.2 or 11.4.3 and take the appropriate action.
Page 353: Remedies For Alarms
11. TROUBLESHOOTING 11.4.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase (A25) occurred, always make home position setting again.
Page 354 11. TROUBLESHOOTING Cause Display Name Definition Action Memory error 2 EEP-ROM fault 1. Faulty parts in the servo amplifier Change the servo amplifier. (EEP-ROM) Checking method Alarm (A15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
Page 355 11. TROUBLESHOOTING Cause Display Name Definition Action Regenerative Permissible 1. Wrong setting of parameter No. Set correctly. error regenerative power PA02 of the built-in 2. Built-in regenerative resistor or Connect correctly regenerative resistor regenerative option is not or regenerative connected. option is exceeded.
Page 356 11. TROUBLESHOOTING Definition Cause Display Name Action Current that flew is Overcurrent 1. Short occurred in servo motor power Correct the wiring. higher than the (U, V, W). permissible current 2. Transistor (IPM, IGBT) of the servo Change the servo amplifier. of the servo amplifier faulty.
Page 357 11. TROUBLESHOOTING Definition Cause Display Name Action Parameter error Parameter setting is 1. Servo amplifier fault caused the Change the servo amplifier. wrong. parameter setting to be rewritten. 2. Regenerative option not used with Set parameter No.PA02 correctly. servo amplifier was selected in parameter No.PA02.
Page 358 11. TROUBLESHOOTING Display Name Definition Cause Action Overload 1 Load exceeded 1. Servo amplifier is used in excess of 1. Reduce load. overload protection its continuous output current. 2. Check operation pattern. characteristic of 3. Use servo motor that provides larger servo amplifier.
Page 359 11. TROUBLESHOOTING Display Name Definition Cause Action Error excessive The difference 1. Acceleration/deceleration time Increase the acceleration/deceleration time between the model constant is too small. constant. position and the 2. Forward rotation torque limit Increase the torque limit value. actual servo motor (parameter No.PA11) or reverse position exceeds rotation torque limit (parameter...
Page 360: Remedies For Warnings
11. TROUBLESHOOTING Display Name Definition Cause Action (Note) Watchdog CPU, parts faulty. Fault of parts in servo amplifier. Change the servo amplifier. Checking method Alarm (888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable.
Page 361 11. TROUBLESHOOTING Display Name Definition Cause Action Open battery cable Absolute position 1. Battery cable is open. Repair cable or changed. warning detection system battery 2. Battery voltage supplied from the servo Change the battery. voltage is low. amplifier to the encoder fell to about 3V or less.
Page 362: Point Table Error
11. TROUBLESHOOTING Display Name Definition Cause Action Cooling fan speed The speed of the servo Cooling fan life expiration (Refer to section Change the cooling fan of the reduction warning amplifier decreased to or 2.5.) servo amplifier. below the warning level. This warning is not displayed with MR-J3- The power supply of the cooling fan is...
Page 363 11. TROUBLESHOOTING MEMO 11 - 14...
Page 364: Outline Drawings
12. OUTLINE DRAWINGS 12. OUTLINE DRAWINGS 12.1 Servo amplifier (1) MR-J3-10T MR-J3-20T MR-J3-10T1 MR-J3-20T1 [Unit: mm] Rating plate 6 mounting hole Approx. 80 (Note) CNP1 CNP2 CNP3 Approx. 68 Approx. 25.5 With MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout.
Page 365 12. OUTLINE DRAWINGS (2) MR-J3-40T MR-J3-60T MR-J3-40T1 [Unit: mm] Rating plate 6 mounting hole Approx. 80 (Note) CNP1 CNP2 CNP3 Approx. 68 Approx. 25.5 With MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout.
Page 366 12. OUTLINE DRAWINGS (3) MR-J3-70T MR-J3-100T [Unit: mm] Rating plate 6 mounting hole Approx. 80 CNP1 CNP2 CNP3 Cooling fan Approx. Approx. 68 wind direction 25.5 With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout Approx. 60 PE terminal CNP1 Screw size: M4 Tightening torque:...
Page 367 12. OUTLINE DRAWINGS (4) MR-J3-60T4 MR-J3-100T4 [Unit: mm] 6 mounting hole Approx. 80 Rating plate CNP1 CNP2 CNP3 Approx. Approx. 68 25.5 With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout Approx. 60 PE terminal CNP1 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw...
Page 368 12. OUTLINE DRAWINGS (5) MR-J3-200T(4) POINT Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. For MR-J3-200T- RT, refer to appendix 5. [Unit: mm] 6 mounting hole Approx.
Page 369 12. OUTLINE DRAWINGS (6) MR-J3-350T [Unit: mm] 6 mounting hole Approx. 80 Rating plate 21.4 CNP1 CNP3 CNP2 Approx. Cooling fan Approx. 68 25.5 wind direction With MR-J3BAT Mass: 2.3 [kg] (5.07 [lb]) Terminal signal layout Approx. 90 PE terminal CNP1 Screw size: M4 Tightening torque:...
Page 370 12. OUTLINE DRAWINGS (7) MR-J3-350T4 MR-J3-500T(4) [Unit: mm] 2- 6 mounting hole Approx. 80 131.5 68.5 Cooling fan Terminal layout wind direction (Terminal cover open) Cooling fan Rating plate With MR-J3BAT CHARGE 20.5 3 places for ground (M4) Built-in regenerative resistor lead terminal fixing screw Mass: 4.6 [kg] (10.1 [lb])
Page 371 12. OUTLINE DRAWINGS (8) MR-J3-700T(4) [Unit: mm] Approx. 80 Cooling fan 6 mounting hole wind direction Rating plate With MR-J3BAT 99.8 14.5 102.6 149.2 24.5 7 13 Built-in regenerative resistor lead terminal fixing screw Mass: 6.2 [kg] (13.7[lb]) Terminal signal layout Approx.
Page 372 12. OUTLINE DRAWINGS (9) MR-J3-11KT(4) to 22KT(4) [Unit: mm] Approx. 80 Cooling fan 2-12 mounting hole wind direction With MR-J3BAT Rating plate 6 26 Approx. 260 Approx. 12 Approx. 12 4-M10 screw Servo amplifier Mass[kg]([lb]) MR-J3-11KT(4) 18.0(39.7) MR-J3-15KT(4) 18.0(39.7) MR-J3-22KT(4) 19.0(41.9) Mounting hole process drawing Terminal signal layout...
Page 373: Connector
12. OUTLINE DRAWINGS 12.2 Connector (1) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] Logo etc, are indicated here. 12.7 Each type of dimension Connector Shell kit 10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0 (b) Jack screw M2.6 type This is not available as option.
Page 374 12. OUTLINE DRAWINGS (2) SCR connector system (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 39.5 34.8 12 - 11...
Page 375 12. OUTLINE DRAWINGS MEMO 12 - 12...
Page 376: Characteristics
13. CHARACTERISTICS 13. CHARACTERISTICS 13.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (A50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 13.1.
Page 377 13 CHARACTERISTICS 10000 1000 During operation During servo lock (Note) Load ratio [%] MR-J3-11KT(4) to MR-J3-22KT(4) Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic thermal relay protection is not activated.
Page 378: Power Supply Equipment Capacity And Generated Loss
13 CHARACTERISTICS 13.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 13.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 13.1 in consideration for the worst operating conditions.
Page 379 13 CHARACTERISTICS (Note 1) (Note 2) Area required for Servo amplifier Servo motor Power supply Servo amplifier-generated heat[W] heat dissipation capacity [kVA] At rated torque With servo off HF-SP702 (4) 10.0 HA-LP702 10.6 MR-J3-700T (4) HA-LP601 (4) 10.0 HA-LP701M (4) 11.0 HC-LP11K2 (4) 16.0...
Page 380 13 CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 ( 50 ) at the ambient temperature of 40 (104 ).
Page 381: Dynamic Brake Characteristics
13 CHARACTERISTICS 13.3 Dynamic brake characteristics 13.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.
Page 382 13 CHARACTERISTICS 500 1000 1500 2000 2500 3000 1000 1500 2000 Speed [r/min] Speed [r/min] HF-SP1000r/min series HF-SP2000r/min series 1000 1500 2000 2500 3000 1000 1500 2000 Speed [r/min] Speed [r/min] HC-RP series HC-UP2000r/min series 20K1 12K1 15K1 25K1 800 1000 1200 50 500 10001500200025003000 Speed[r/min]...
Page 383 13 CHARACTERISTICS 22K1M 15K2 11K1M 11K2 22K2 15K1M 701M 1000 1500 2000 1000 1500 2000 Speed[r/min] Speed[r/min] HA-LP1500r/min series HA-LP2000r/min series 1000 1500 2000 Speed[r/min] HC-LP series (b) 400V class servo motor 2024 20K14 12K14 1024 3524 15K14 5024 8014 1524 7024 1000...
Page 384: The Dynamic Brake At The Load Inertia Moment
13 CHARACTERISTICS 13.3.2 The dynamic brake at the load inertia moment Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi.
Page 385: Cable Flexing Life
13 CHARACTERISTICS 13.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 10 5 10 1 10 a : Long flex life encoder cable Long flex life motor power cable 5 10 Long flex life motor brake cable...
Page 386: Options And Auxiliary Equipment
14. OPTIONS AND AUXILIARY EQUIPMENT 14. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. WARNING Otherwise, an electric shock may occur.
Page 387: Combinations Of Cable/Connector Sets
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.1 Combinations of cable/connector sets Servo amplifier Personal computer 1) 2) Note CNP1 CNP2 CNP3 Direct connection type (cable length 10m or less, IP65) 15) 16) 17) 18) Junction type (cable length more than 10m, IP20) 21) 22) 19) 20) Battery...
Page 388 14. OPTIONS AND AUXILIARY EQUIPMENT 24) 25) Servo motor 28) 29) HF-SP Power supply Brake Encoder connector connector connector 24) 25) Servo motor HC-RP 30) 35) 36) HC-UP HC-LP Power supply Brake Encoder connector connector connector 24) 25) Servo motor HA-LP Terminal box 14 - 3...
Page 389 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 1) Servo Supplied with amplifier servo power supply amplifiers of connector 1kW or less in 100V class CNP1 CNP2 CNP3 and 200V connector: 54928-0670 connector: 54928-0520 connector: 54928-0370 class (Molex) (Molex) (Molex) <Applicable cable example>...
Page 390 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 7) Motor power MR-PWS2CBL03M-A1-L IP55 Power supply connector supply cable Cable length: 0.3m Load side lead HF-MP series HF-KP series Refer to section 14.1.3 for details. 8) Motor power MR-PWS2CBL03M-A2-L IP55 Power supply connector supply cable Cable length: 0.3m...
Page 391 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 19) Encoder MR-J3JCBL03M-A1-L IP20 Encoder connector cable Cable length: 0.3m Load side lead HF-MP series HF-KP series Refer to section 14.1.2 (3) for details. 20) Encoder MR-J3JCBL03M-A2-L IP20 Encoder connector cable Cable length: 0.3m Opposite-to- load side lead...
Page 392 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 30) Power MR-PWCNS3 Plug: CE05-6A32-17SD-D-BSS IP67 supply Cable clamp: CE3057-20A-1-D (D265) Be sure to use connector (DDK) this when For HF-SP421 Example of applicable cable corresponding For HF-SP702 Applicable wire size: 14mm (AWG6) to 22mm to EN For HA-LP702...
Page 393: Encoder Cable/Connector Sets
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 Encoder cable/connector sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model.
Page 394 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable internal wiring diagram MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR-J3ENCBL10M-L/-H Encoder side Servo amplifier connector side connector Plate (2) MR-EKCBL M-L/H POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set parameter No.PC22 to "1 "...
Page 395 14. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo amplifier MR-EKCBL M-L MR-J3JCBL03M-L MR-EKCBL M-H Cable length: 0.3m Servo motor HF-MP HF-KP Cable model 1) Servo amplifier side connector 2) Encoder side connector MR-EKCBL Receptacle: 36210-0100PL Connector set: 54599-1019 Housing: 1-172161-9 Shell kit: 536310-3200-008...
Page 396 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-EKCBL20M-L MR-EKCBL30M-L Servo amplifier side Encoder side Servo amplifier side Encoder side Plate (Note) CONT Plate (Note) MR-EKCBL20M-H MR-EKCBL30M-H MR-EKCBL40M-H Servo amplifier side Encoder side MR-EKCBL50M-H Servo amplifier side Encoder side Plate (Note) CONT...
Page 397 14. OPTIONS AND AUXILIARY EQUIPMENT (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in (b). Refer to section 14.9 for the specifications of the used cable. Parts/Tool Description Connector set...
Page 398 14. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor MR-J3JCBL03M-A1-L Servo amplifier Servo motor HF-MP HF-KP MR-EKCBL M-L/-H MR-J3JCBL03M-A2-L Servo motor HF-MP HF-KP Cable model 1) Junction connector 2) For encoder connector MR-J3JCBL03M-A1-L Housing: 1-172169-9 Connector: 1674320-1 Contact: 1473226-1 Crimping tool for ground clip: 1596970-1 Cable clamp: 316454-1...
Page 399 14. OPTIONS AND AUXILIARY EQUIPMENT (4) MR-J3ENSCBL M-L MR-J3ENSCBL These cables are detector cables for HF-SP HA-LP HC-RP HC-UP HC-LP series servo motors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols are prepared.
Page 400 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-J3ENSCBL2M-L/H MR-J3ENSCBL20M-L MR-J3ENSCBL20M-H MR-J3ENSCBL30M-L MR-J3ENSCBL5M-L/H MR-J3ENSCBL30M-H MR-J3ENSCBL10M-L/H MR-J3ENSCBL40M-H Encoder side Servo amplifier MR-J3ENSCBL50M-H connector side connector Encoder side Servo amplifier Encoder side Servo amplifier connector side connector connector side connector Plate Plate Plate (c) When fabricating the encoder cable...
Page 401 14. OPTIONS AND AUXILIARY EQUIPMENT (5) MR-J3BTCBL03M This cable is a battery connection cable. Use this cable to retain the current position even if the detector cable is disconnected from the servo amplifier. Cable model Cable length Application MR-J3BTCBL03M 0.3m For HF-MP HF-KP HF-SP servo motor (a) Connection of servo amplifier and servo motor Servo amplifier...
Page 402: Motor Power Supply Cables
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model.
Page 403: Motor Brake Cables
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.
Page 404: Regenerative Options
14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 Regenerative options The specified combinations of regenerative options and servo amplifiers may only CAUTION be used. Otherwise, a fire may occur. (1) Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. Regenerative power[W] Built-in (Note 1)
Page 405 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection of the regenerative option Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. (a) Regenerative energy calculation Use the following table to calculate the regenerative energy.
Page 406 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Servo amplifier Inverse efficiency[%] Capacitor charging[J] Servo amplifier Inverse efficiency[%] Capacitor charging[J] MR-J3-10T...
Page 407 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Parameter setting Set parameter No.PA02 according to the option to be used. Parameter No.PA02 Selection of regenerative option 00: Regenerative option is not used For servo amplifier of 100W, regenerative resistor is not used. For servo amplifier of 200 to 7kW, built-in regenerative resistor is used.
Page 408 14. OPTIONS AND AUXILIARY EQUIPMENT (a) MR-J3-350T or less MR-J3-200T4 or less Always remove the wiring from across P-D and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is disconnected when the regenerative option overheats abnormally.
Page 409 14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option overheats abnormally.
Page 410 14. OPTIONS AND AUXILIARY EQUIPMENT The drawing below shows the MR-J3-350T4 and MR-J3-500T(4). Refer to section 12.1 (6) Outline drawings for the position of the fixing screw for MR-J3-700T(4). Built-in regenerative resistor lead terminal fixing screw For the MR-RB51, MR-RB3G-4, MR-RB5G-4, MR-RB34-4 or MR-RB54-4 install the cooling fan as shown.
Page 411 The detection level of the thermal sensor varies according to the settings of the resistor. Set the thermal sensor in the most appropriate position on your design basis or use the thermal sensor built-in regenerative option (MR- RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4) provided by Mitsubishi Electric Corporation. Regenerative...
Page 412 14. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-J3-11KT(4)-PX to MR-J3-22KT(4)-PX (when using the regenerative option) The MR-J3-11KT(4)-PX to MR-J3-22KT(4)-PX servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 regenerative option.
Page 413 14. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline dimension drawings (a) MR-RB032 MR-RB12 [Unit: mm (in)] Terminal block 6 mounting hole Terminal screw: M3 MR-RB Tightening torque: 0.5 to 0.6 [N m] (4 to 5 [lb in]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Approx.
Page 414 14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4 [Unit: mm (in)] Terminal block Cooling fan mounting screw (2-M4 screw) Terminal screw: M4 Tightening torque: 1.2 [N m] (10.62 [lb in]) 101.5 82.5 Mounting screw Screw size: M6 Wind blows in the Tightening torque: 5.4 [N m] (47.79 [lb in]) arrow direction...
Page 415 14. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 [Unit: mm (in)] Terminal block 2- 10 mounting hole Terminal screw: M5 Tightening torque: 2.0 [N m] (17.70 [lb in]) Mounting screw Screw size: M8 Tightening torque: 13.2 [N m] (116.83 [lb in]) Regenerative Mass option...
Page 416 14. OPTIONS AND AUXILIARY EQUIPMENT (f) MR-RB1H-4 [Unit: mm (in)] Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (4.43 to 5.31 [lb in]) 6 mounting hole Mounting screw Screw size: M5 Tightening torque: 3.2 [N m] (28.32 [lb in]) Regenerative Mass [kg] ([lb]) option...
Page 417: Bu2-(H) Brake Unit
14. OPTIONS AND AUXILIARY EQUIPMENT 14.3 FR-BU2-(H) brake unit POINT Use a 200V class brake unit and a resistor unit with a 200V class servo amplifier, and a 400V class brake unit and a resistor unit with a 400V class servo amplifier.
Page 418: Selection
14. OPTIONS AND AUXILIARY EQUIPMENT 14.3.1 Selection Use a combination of servo amplifier, brake unit and resistor unit listed below. Number of Permissible Total Applicable servo Brake unit Resistor unit connected continuous resistance amplifier units power [kW] 200V FR-BU2-15K FR-BR-15K 0.99 MR-J3-500T (Note) class...
Page 419: Connection Example
14. OPTIONS AND AUXILIARY EQUIPMENT 14.3.3 Connection example POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit. (1) Combination with FR-BR-(H) resistor unit (a) When connecting a brake unit to a servo amplifier (Note 8)
Page 420 14. OPTIONS AND AUXILIARY EQUIPMENT (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
Page 421 14. OPTIONS AND AUXILIARY EQUIPMENT (Note 7) Servo motor (Note 12) thermal relay Servo amplifier (Note 1) Power DOCOM 24VDC FR-BR supply DICOM (Note 5) (Note 12) (Note 3) FR-BU2-(H) (Note 11) (Note 10) (Note 4) (Note 8) (Note 6) (Note 9) Terminal block...
Page 422 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Combination with MT-BR5-(H) resistor unit Servo motor (Note 9) thermal relay (Note 4) Servo amplifier (Note 1) Power DOCOM 24VDC MT-BR5-(H) supply DICOM (Note 5) (Note 9) FR-BU2-(H) (Note 10) (Note 2) (Note 3) (Note 7) (Note 6) (Note 8)
Page 423 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter).
Page 424 14. OPTIONS AND AUXILIARY EQUIPMENT 2) Control circuit terminal POINT Undertightening can cause a cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due to damage to the screw or the brake unit. Sheath SD SD Core Jumper Terminal block Wire the stripped cable after twisting to prevent the cable...
Page 425 14. OPTIONS AND AUXILIARY EQUIPMENT (5) Crimping terminals for P and N terminals of servo amplifier (a) Recommended crimping terminals POINT Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size. Number of (Note 1) Servo amplifier Brake unit...
Page 426: Outline Dimension Drawings
14. OPTIONS AND AUXILIARY EQUIPMENT 14.3.4 Outline dimension drawings (1) FR-BU2- (H) brake unit [Unit: mm] FR-BU2-15K 5 hole (Screw size: M4) Rating plate 18.5 132.5 FR-BU2-30K FR-BU2-H30K 2- 5 hole (Screw size: M4) Rating plate 18.5 129.5 FR-BU2-55K FR-BU2-H55K, H75K 2- 5 hole (Screw size: M4) Rating...
Page 427 14. OPTIONS AND AUXILIARY EQUIPMENT (2) FR-BR- (H) resistor unit [Unit: mm] (Note) Control circuit (Note) terminal Main circuit terminal Approx. 35 Approx. 35 For FR-BR-55K/FR-BR-H55K, a hanging bolt is placed on two locations (Indicated below). Hanging bolt Note. Ventilation ports are provided on both sides and the top. The bottom is open. Approximate Resistor unit mass...
Page 428: Power Regeneration Converter
14. OPTIONS AND AUXILIARY EQUIPMENT 14.4 Power regeneration converter When using the power regeneration converter, set " 01" in parameter No.PA02. (1) Selection The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the 5k to 22kW. Nominal Power regeneration regenerative power...
Page 429 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier Power factor improving reactor FR-BAL (Note 7) Power supply 24VDC DOCOM Forced stop DOCOM DICOM (Note 3, 5) Trouble (Note 2) 5m or less (Note 4) (Note 6) Ready output Alarm output R R X...
Page 430 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm] Mounting foot (removable) 2- D hole Mounting foot movable Rating plate Display panel Front cover window Cooling fan Heat generation area outside mounting dimension Power Approx.
Page 431 14. OPTIONS AND AUXILIARY EQUIPMENT 14.5 Power regeneration common converter POINT Use the FR-CV for the servo amplifier of 200V class and the FR-CV-H for that of 400V class. For details of the power regeneration common converter FR-CV-(H), refer to the FR-CV-(H) Installation Guide (IB(NA)0600075).
Page 432: Power Regeneration Common Converter
14. OPTIONS AND AUXILIARY EQUIPMENT The following table lists the restrictions. FR-CV- Item 7.5K Maximum number of connected servo amplifiers Total of connectable servo amplifier capacities [kW] 3.75 18.5 27.5 Total of connectable servo motor rated currents [A] Maximum servo amplifier capacity [kW] FR-CV-H Item Maximum number of connected servo amplifiers...
Page 433 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection diagram (a) 200V class Servo amplifier Servo motor FR-CVL FR-CV R2/L R2/L 3-phase S2/L 200 to S2/L Thermal (Note 7) 230VAC T2/L relay 0HS2 T2/L (Note 6) (Note 2) 0HS1 (Note 1) (Note 5) T/MC1 DOCOM RESET...
Page 434 14. OPTIONS AND AUXILIARY EQUIPMENT (b) 400V class FR-CVL FR-CV-H Servo amplifier Servo motor R2/L R2/L 3-phase S2/L 380 to S2/L Thermal 480VAC T2/L (Note 7) relay T2/L (Note 6) OHS2 (Note 2) OHS1 (Note 1) (Note 5) (Note 8) Stepdown T/MC1 DOCOM...
Page 435 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Selection example of wires used for wiring POINT Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air (a) Wire sizes 1) Across P-P( ), N-N( ) The following table indicates the connection wire sizes of the DC power supply (P, N terminals)
Page 436 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Example of selecting the wire sizes When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P, N. Also, connect the servo amplifiers in the order of larger to smaller capacities. 1) 200V class Wire as short as possible.
Page 437 14. OPTIONS AND AUXILIARY EQUIPMENT 2) 400V class Wire as short as possible. Servo amplifier (15kW) FR-CV-H55K 22mm 14mm First unit: P/L+ R2/L 22mm assuming that the total of servo amplifier N/L- S2/L capacities is 30kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW.
Page 438 14. OPTIONS AND AUXILIARY EQUIPMENT (6) Specifications Power regeneration common converter FR-CV- 7.5K Item Total of connectable servo amplifier capacities [kW] 3.75 18.5 27.5 Maximum servo amplifier capacity [kW] Total of connectable servo motor rated currents Short-time Output Total capacity of applicable servo motors, 300% torque, 60s (Note 1) Regenerative rating braking torque...
Page 439: External Dynamic Brake
14. OPTIONS AND AUXILIARY EQUIPMENT 14.6 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on signal at a power failure or failure.
Page 440 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Operation-ready Servo amplifier Servo motor (Note 4) (Note 5) Power supply (Note 3) DICOM (Note 2) DOCOM 24VDC Plate (Note 1) 13 U (Note 6) External dynamic brake Note 1. Terminals 13, 14 are normally open contact outputs. If the dynamic brake is seized, terminals 13, 14 will open. Therefore, configure up an external sequence to prevent servo-on.
Page 441 14. OPTIONS AND AUXILIARY EQUIPMENT Coasting Coasting Forward rotation Servo motor Dynamic brake Dynamic brake 0r/min rotation Present Absent Base Invalid Dynamic brake Valid Short Forced stop (EMG) Open a. Timing chart at alarm occurrence b. Timing chart at Forced stop (EMG) validity Coasting Dynamic brake Forward...
Page 442 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing (a) DBU-11K DBU-15K DBU-22K [Unit: mm] Terminal block 13 14 (GND) Screw : M4 Screw : M3.5 Tightening torque: 1.2 [N m](10.6 [lb in]) Tightening torque: 0.8 [N m](7 [lb in]) Mass Connection wire Dynamic brake...
Page 443 14. OPTIONS AND AUXILIARY EQUIPMENT (b) DBU-11K-4 DBU-22K-4 [Unit: mm] 2- 7mounting hole 73.75 Mass: 6.7[kg] (14.8 [lb]) Terminal block Screw: M3.5 Screw: M4 Tightening torque: 0.8[N m](7[lb in]) Tightening torque: 1.2[N m](10.6[lb in]) Wire [mm ] (Note) Dynamic brake U V W DBU-11K-4 DBU-22K-4...
Page 444: Battery Mr-J3Bat
The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11), Z(12). For October 2004, the Serial No. is like, "SERIAL ". MELSERVO MR-J3BAT 3.6V,2000mAh SERIAL MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN The year and month of manufacture 14 - 59...
Page 445: Heat Sink Outside Mounting Attachment (Mr-J3Acn)
14. OPTIONS AND AUXILIARY EQUIPMENT 14.8 Heat sink outside mounting attachment (MR-J3ACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
Page 446 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Fitting method Attachment Punched hole Servo amplifier Fit using the Servo assembling Control box amplifier screws. Attachment a. Assembling the heat sink outside mounting attachment b. Installation to the control box (4) Outline dimension drawing [Unit: mm] Panel Servo...
Page 447: Selection Example Of Wires
14. OPTIONS AND AUXILIARY EQUIPMENT 14.9 Selection example of wires POINT Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the servo amplifier and servo motor, use a 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to appendix 6.
Page 448 14. OPTIONS AND AUXILIARY EQUIPMENT (a) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire size when using IV wires is indicated below. Table 14.1 Wire size selection example 1 (IV wire) Wires [mm ] (Note 1, 4) Servo amplifier 2) L 4) P C...
Page 449 14. OPTIONS AND AUXILIARY EQUIPMENT (b) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below. For the wire ( 8)) for power regeneration converter (FR-RC-(H)), use the IV wire indicated in (1) (a) in this section. Table 14.2 Wire size selection example 2 (HIV wire) Wires [mm ] (Note 1, 4)
Page 450 14. OPTIONS AND AUXILIARY EQUIPMENT (c) Selection example of crimping terminals Selection example of crimping terminals for the servo amplifier terminal box when using the wires mentioned in (1) (a) and (b) in this section is indicated below. Servo amplifier side crimping terminals (Note 2) Applicable tool Symbol...
Page 451 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 14.3 Wires for option cables Characteristics of one core (Note 3) Insulation Length Core size Number Conductor Type...
Page 452 14. OPTIONS AND AUXILIARY EQUIPMENT (3) CC-Link twisted cable POINT For the cables other than the one indicated here, refer to the open field network CC-Link catalog (L(NA)74108143). The specifications of the twisted cable usable in CC-Link and the recommended cable are indicated below. If the cable used is other than the recommended cable indicated in the following table, we cannot guarantee the performance of CC-Link.
Page 453: Fuse Breakers, Fuses, Magnetic Contactors
14. OPTIONS AND AUXILIARY EQUIPMENT 14.10 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. No-fuse breaker Fuse Magnetic...
Page 454: Power Factor Improving Dc Reactor
14. OPTIONS AND AUXILIARY EQUIPMENT 14.11 Power factor improving DC reactor POINT For the 100V power supply type (MR-J3- T1), the power factor improving DC reactor cannot be used. The power factor improving DC reactor increases the form factor of the servo amplifier's input current to improve the power factor.
Page 455 14. OPTIONS AND AUXILIARY EQUIPMENT Power factor Dimensions [mm] Outline Mounting Mass Wire Servo amplifier improving DC screw size [kg(lb)] ] (Note) drawing reactor MR-J3-10T FR-BEL-0.4K M3.5 0.5(1.10) MR-J3-40T FR-BEL-0.75K 0.7(1.54) MR-J3-60T FR-BEL-1.5K 1.1(2.43) 2(AWG14) MR-J3-100T FR-BEL-2.2K Fug. 14.2 1.2(2.65) MR-J3-200T FR-BEL-3.7K 1.7(3.75)
Page 456: Power Factor Improving Reactors
14. OPTIONS AND AUXILIARY EQUIPMENT 14.12 Power factor improving reactors The power factor improving reactors improve the phase factor by increasing the form factor of servo amplifier's input current. It can reduce the power capacity. The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be slightly lower than 90%.
Page 457 14. OPTIONS AND AUXILIARY EQUIPMENT Dimensions [mm] Mounting Terminal Mass Servo amplifier Model screw size screw size [kg (lb)] FR-BAL-0.4K MR-J3-10T 10T1 M3.5 2.0 (4.41) -2.5 FR-BAL-0.75K MR-J3-40T 20T1 M3.5 2.8 (6.17) -2.5 FR-BAL-1.5K MR-J3-60T 40T1 M3.5 3.7 (8.16) -2.5 FR-BAL-2.2K MR-J3-100T M3.5...
Page 458: Relays (Recommended)
14. OPTIONS AND AUXILIARY EQUIPMENT 14.13 Relays (recommended) The following relays should be used with the interfaces. Interface Selection example Relay used for digital input command signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts).
Page 459: Noise Reduction Techniques
14. OPTIONS AND AUXILIARY EQUIPMENT 14.15 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.
Page 460 14. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
Page 461 14. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
Page 462 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, or the like near the servo amplifier is shown below. Use this product or equivalent. Relay Surge suppressor Surge suppressor This distance should be short (within 20cm).
Page 463 14. OPTIONS AND AUXILIARY EQUIPMENT (c) Cable clamp fitting AERSBAN - Generally, the earth of the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an earth plate as shown below. Install the earth plate near the servo amplifier for the encoder cable.
Page 464 14. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01, FR-BLF) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.
Page 465 14. OPTIONS AND AUXILIARY EQUIPMENT (f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by NIPPON CHEMI- CON, are recommended.
Page 466: Leakage Current Breaker
14. OPTIONS AND AUXILIARY EQUIPMENT 14.16 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
Page 467 14. OPTIONS AND AUXILIARY EQUIPMENT Table 14.4 Servo motor’s leakage current example (Igm) Table 14.5 Servo amplifier's leakage current example (Iga) Servo motor output [kW] Leakage current [mA] Servo amplifier capacity [kW] Leakage current [mA] 0.05 to 1 0.1 to 0.6 0.75 to 3.5 (Note) 0.15 11 15...
Page 468: Emc Filter (Recommended)
14. OPTIONS AND AUXILIARY EQUIPMENT 14.17 EMC filter (recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter. Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter (Soshin Electric) Servo amplifier Mass [kg]([lb])
Page 469 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing (a) EMC filter HF3010A-UN [Unit: mm] 3-M4 4-5.5 7 3-M4 Approx.41 HF3030A-UN HF-3040A-UN Dimensions [mm] Model R3.25, HF3030A-UN length HF3040A-UN 14 - 84...
Page 470 14. OPTIONS AND AUXILIARY EQUIPMENT HF3100A-UN 2-6.5 2- 6.5 380 1 400 5 TF3005C-TX TX3020C-TX TF3030C-TX [Unit: mm] 3-M4 6-R3.25 length8 3 M4 Approx.67.5 100 1 100 1 290 2 150 2 308 5 Approx.160 332 5 170 5 14 - 85...
Page 471 14. OPTIONS AND AUXILIARY EQUIPMENT TF3040C-TX TF3060C-TX [Unit: mm] 3-M6 3-M6 Dimensions [mm] Model R3.25 TF3040C-TX Approx.190 Approx.91.5 length 8 TF3060C-TX (M6) 14 - 86...
Page 472 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge protector RAV-781BYZ-2 [Unit: mm] Black Black Black UL-1015AWG16 41 1.0 RAV-781BXZ-4 [Unit: mm] UL-1015AWG16 41 1.0 14 - 87...
Page 473: Mr-Hdp01 Manual Pulse Generator
14. OPTIONS AND AUXILIARY EQUIPMENT 14.18 MR-HDP01 manual pulse generator Use the MR-HDP01 manual pulse generator to rotate the servo motor. Using external input signals, the moving distance of the servo motor can be specified in accordance with pulses generated from MR-HDP01. To do this specification, in the parameter No.PD06 to PD08, assign the manual pulse generator multiplication 1 (TP0) and 2 (TP1) to the CN6 connector pins.
Page 474 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Terminal layout Signal Description 5 to 5 to 12V Power input 0V A Common for power and signal A-phase pulse output B-phase pulse output (4) Installation Panel cut 3- 4.8 Equally spaced (5) Outline drawing [Unit: mm] Packing t2.0 3-M4 stud L10...
Page 475 14. OPTIONS AND AUXILIARY EQUIPMENT MEMO 14 - 90...
Page 476: Communication Function
15. COMMUNICATION FUNCTION 15. COMMUNICATION FUNCTION Using the serial communication function of RS-422, this servo amplifier enables servo operation, parameter change, monitor function, etc. 15.1 Configuration (1) Single axis Operate the single-axis servo amplifier. It is recommended to use the following cable. Personal computer Servo amplifier 10m or less...
Page 477 15. COMMUNICATION FUNCTION (b) Cable connection diagram Wire the cables as shown below. (Note 3) 30m or less (Note 1) (Note 1) (Note 1, 7) Axis 1 servo amplifier Axis 2 servo amplifier Axis n servo amplifier CN3 connector CN3 connector CN3 connector (RJ45 connector) (RJ45 connector)
Page 478: Communication Specifications
15. COMMUNICATION FUNCTION 15.2 Communication specifications 15.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station.
Page 479: Parameter Setting
15. COMMUNICATION FUNCTION 15.2.2 Parameter setting When the USB/RS-422 communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again. (1) Serial communication baud rate Choose the communication speed.
Page 480: Transmission Data Configuration
15. COMMUNICATION FUNCTION 15.3 Protocol 15.3.1 Transmission data configuration Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station number to each servo amplifier using the parameter and set the group to each station using the communication command.
Page 481 15. COMMUNICATION FUNCTION 15.3.2 Character codes (1) Control codes Hexadecimal Personal computer terminal key operation Code name Description (ASCII code) (General) start of head ctrl start of text ctrl end of text ctrl end of transmission ctrl (2) Codes for data ASCII codes are used.
Page 482: Error Codes
15. COMMUNICATION FUNCTION 15.3.3 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station.
Page 483: Time-Out Operation
15. COMMUNICATION FUNCTION 15.3.5 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300ms after the master station has ended communication operation. 100ms after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.
Page 484: Initialization
15. COMMUNICATION FUNCTION 15.3.7 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after. (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.
Page 485: Command And Data No. List
15. COMMUNICATION FUNCTION 15.4 Command and data No. list POINT If the command and data No. are the same, the description may be different depending on models of servo amplifiers. 15.4.1 Read commands (1) Status display (Command [0][1]) Command Data No. Description Display item Frame length...
Page 486 15. COMMUNICATION FUNCTION (2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8] [0][9]) Command Data No. Description Frame length [0] [4] [0] [1] Parameter group read 0000: Basic setting parameter (No.PA 0001: Gain filter parameter (No.PB 0002: Extension setting parameter (No.PC 0003: I/O setting parameter (No.PD [0] [5] [0] [1] to [F] [F] Current values of parameters...
Page 487 15. COMMUNICATION FUNCTION (4) Alarm history (Command [3][3]) Command Data No. Description Alarm occurrence sequence Frame length [3] [3] [1] [0] Alarm number in alarm history most recent alarm [1] [1] first alarm in past [1] [2] second alarm in past [1] [3] third alarm in past [1] [4]...
Page 488 15. COMMUNICATION FUNCTION (6) Point table/position data (Command [4][0]) Command Data No. Description Frame length [4][0] [0][1] to [F][F] Position data read The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. (7) Point table/speed data (Command [5][0]) Command Data No.
Page 489: Write Commands
15. COMMUNICATION FUNCTION (14) Others Command Data No. Description Frame length [0] [2] [9] [0] Servo motor side pulse unit absolute position [9] [1] Command unit absolute position [7] [0] Software version 15.4.2 Write commands (1) Status display (Command [8][1]) Command Data No.
Page 490 15. COMMUNICATION FUNCTION (7) Point table/speed data (Command [C][6]) Command Data No. Description Setting range Frame length [C][6] [0][1] to [F][F] Speed data write 0 to Permissible The decimal equivalent of the data No. value instantaneous speed (hexadecimal) corresponds to the Point table No. (8) Point table/acceleration time constant (Command [C][7]) Command Data No.
Page 491 15. COMMUNICATION FUNCTION (14) Test operation mode data (Command [9][2] [A][0]) Command Data No. Description Setting range Frame length [9] [2] [0] [0] Input signal for test operation Refer to section 15.5.7. [0] [1] [A] [0] Forced output of signal pin Refer to section 15.5.9.
Page 492: Detailed Explanations Of Commands
15. COMMUNICATION FUNCTION 15.5 Detailed explanations of commands 15.5.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.
Page 493 15. COMMUNICATION FUNCTION (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.
Page 494: Status Display
15. COMMUNICATION FUNCTION 15.5.2 Status display (1) Reading the status display name and unit Read the status display name and unit. (a) Transmission Transmit command [0][1] and the data No. corresponding to the status display item to be read, [0][0] to [0][E].
Page 495: Parameters
15. COMMUNICATION FUNCTION 15.5.3 Parameters (1) Specify the parameter group The group of the parameters to be operated must be specified in advance to read or write the parameter settings, etc. Write data to the servo amplifier as described below to specify the parameter group to be operated.
Page 496 15. COMMUNICATION FUNCTION (4) Reading the setting Read the parameter setting. Specify the parameter group in advance (refer to (1) in this section). (a) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No., [0][0] to [F][F]. (Refer to section 15.4.1.) The data No.
Page 497 15. COMMUNICATION FUNCTION (6) Parameter write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.
Page 498: External I/O Signal Statuses (Dio Diagnosis)
15. COMMUNICATION FUNCTION 15.5.4 External I/O signal statuses (DIO diagnosis) (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and the data No. corresponding to the input device. Command Data No. [1][2] [0][0] [0][1]...
Page 499 15. COMMUNICATION FUNCTION (2) External input pin status read Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Command Data No. [1][2] [4][0] (b) Reply The ON/OFF statuses of the input pins are sent back. 1:ON 0:OFF Command of each bit is transmitted to the master...
Page 500 15. COMMUNICATION FUNCTION (3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and the data No. corresponding to the input device. Command Data No.
Page 501 15. COMMUNICATION FUNCTION (4) External output pin status read Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and data No. [C][0]. Command Data No. [1][2] [C][0] (b) Reply The slave station sends back the ON/OFF statuses of the output pins. 1:ON 0:OFF Command of each bit is transmitted to the master...
Page 502 15. COMMUNICATION FUNCTION (5) Read of the statuses of output devices Read the ON/OFF statuses of the output devices. (a) Transmission Transmit command [1][2] and the data No. corresponding to the output device. Command Data No. [1][2] [8][0] [8][1] (b) Reply The slave station sends back the statuses of the output devices.
Page 503: Device On/Off
15. COMMUNICATION FUNCTION 15.5.5 Device ON/OFF POINT The ON/OFF states of all devices in the servo amplifier are the states of the data received last. Hence, when there is a device which must be kept ON, send data which turns that device ON every time. Each input device can be switched on/off.
Page 504: Disable/Enable Of I/O Devices (Dio)
15. COMMUNICATION FUNCTION 15.5.6 Disable/enable of I/O devices (DIO) Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input signals (devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be disabled. Signal Status Input devices (DI)
Page 505: Input Devices On/Off (Test Operation)
15. COMMUNICATION FUNCTION 15.5.7 Input devices ON/OFF (test operation) Each input devices can be turned on/off for test operation. when the device to be switched off exists in the external input signal, also switch off that input signal. Send command [9] [2], data No. corresponding to the input device and data. Command Data No.
Page 506: Test Operation Mode
15. COMMUNICATION FUNCTION 15.5.8 Test operation mode POINT The test operation mode is used to confirm operation. Do not use it for actual operation. If communication stops for longer than 0.5s during test operation, the servo amplifier decelerates to a stop, resulting in servo lock. To prevent this, continue communication all the time, e.g.
Page 507 15. COMMUNICATION FUNCTION (2) JOG operation Send the command, data No. and data as indicated below to execute JOG operation. Start Select the JOG operation in the test Command : [8][B] operation mode. Data No. : [0][0] Data : 0001(JOG operation) Servo motor speed setting Command : [A][0] Data No.
Page 508 15. COMMUNICATION FUNCTION (3) Positioning operation (a) Operation procedure Send the command, data No. and data as indicated below to execute positioning operation. Start Select the positioning operation in Command : [8][B] the test operation mode. Data No. : [0][0] Data : 0002 (positioning operation) Servo motor speed setting...
Page 509 15. COMMUNICATION FUNCTION (b) Temporary stop/restart/remaining distance clear Send the following command, data No. and data during positioning operation to make deceleration to a stop. Command Data No. Data [A][0] [4][1] STOP Send the following command, data No. and data during a temporary stop to make a restart. Command Data No.
Page 510 15. COMMUNICATION FUNCTION (4) Single-step feed Set necessary items to the point table before starting the single-step feed. Send the command, data No. and data as indicated below to execute single-step feed. Start Command : [8][B] Select the single-step feed in the Data No.
Page 511 15. COMMUNICATION FUNCTION (5) Output signal pin ON/OFF output signal (DO) forced output In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (a) Choosing DO forced output in test operation mode Transmit command [8][B] data No.
Page 512: Alarm History
15. COMMUNICATION FUNCTION 15.5.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No.
Page 513: Current Alarm
15. COMMUNICATION FUNCTION 15.5.10 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. Alarm No.
Page 514: Point Table
15. COMMUNICATION FUNCTION 15.5.11 Point table (1) Data read (a) Position data Read the position data of the point table. 1) Transmission Transmit command [4][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read.
Page 515 15. COMMUNICATION FUNCTION (c) Acceleration time constant Read the acceleration time constant of the point table. 1) Transmission Transmit command [5][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 15.4.1. 2) Reply The slave station sends back the acceleration time constant of the requested point table.
Page 516 15. COMMUNICATION FUNCTION (e) Dwell Read the dwell of the point table. 1) Transmission Transmit command [6][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 15.4.1. 2) Reply The slave station sends back the dwell of the requested point table. Hexadecimal data Display type 0: Used unchanged in hexadecimal...
Page 517 15. COMMUNICATION FUNCTION (2) Data write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.
Page 518 15. COMMUNICATION FUNCTION (c) Acceleration time constant Write the acceleration time constant of the point table. Transmit command [C][7], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 15.4.2. Command Data No.
Page 519 15. COMMUNICATION FUNCTION (f) Auxiliary function Write the auxiliary function of the point table. Transmit command [C][B], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 15.4.2. Command Data No.
Page 520: Servo Amplifier Group Designation
15. COMMUNICATION FUNCTION 15.5.12 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group. (1) Group setting write Write the group designation value to the slave station. (a) Transmission Transmit command [9][F], data No.
Page 521: Other Commands
15. COMMUNICATION FUNCTION 15.5.13 Other commands (1) Servo motor side pulse unit absolute position Read the absolute position in the servo motor side pulse unit. Note that overflow will occur in the position of 8192 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No.
Page 522: Indexer Positioning Operation
16. INDEXER POSITIONING OPERATION 16. INDEXER POSITIONING OPERATION POINT To execute the indexer positioning operation, parameter needs to be changed. Set the parameter No.PA01 to "1 ". This chapter provides the indexer positioning operation method using MR-J3- T servo amplifier. Any matters not described in this chapter are the same as those of the point table positioning operation.
Page 523: Function List
16. INDEXER POSITIONING OPERATION 16.1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference Automatic operation mode 1 In this operation mode, the servo motor rotates in the specified direction and (Rotation direction specifying Section 16.7.2 performs a positioning operation to the next station divided in 2 to 255.
Page 524: I/O Signals (I/O Devices) Transferred To/From The Programmable Controller Cpu
16. INDEXER POSITIONING OPERATION Function Description Reference Section 16.3.2 (3) Torque limit Servo motor-torque is limited. Section 16.11.1 (9) Output signal can be forced on/off independently of the servo status. Section 7.7.4 Output signal (DO) forced output Use this function for output signal wiring check, etc. Section 8.5.7(4) JOG operation positioning operation DO forced output.
Page 525 16. INDEXER POSITIONING OPERATION (2) When 2 stations are occupied RXn/RYn: 64 points each, RWrn/RWwn: 8 points each Programmable controller Servo amplifier (RYn) Servo amplifier Programmable controller (RXn) (Note) (Note) Device name Device name Device No. Device No. RYn0 Servo-on RXn0 Ready RYn1...
Page 526: Detailed Explanation Of I/O Signals
16. INDEXER POSITIONING OPERATION Programmable controller Servo amplifier (RWwn) Servo amplifier Programmable controller (RWrn) (Note 1) (Note 1) Signal Signal Address No. Address No. RWwn Monitor 1 (Note 2) RWrn Monitor 1 data lower 16 bit RWwn Monitor 2 (Note 2) RWwn Monitor 1 data upper 16 bit RWwn...
Page 527 16. INDEXER POSITIONING OPERATION Device No. Signal name Description Remarks 1 station 2 stations (Device name) occupied occupied Rotation direction specifying Turning on/off RYn2 specifies the rotation direction at start. RYn2 RYn2 1. Automatic operation mode 1 Rotation direction changes according to the parameter No.PA14 setting.
Page 528 16. INDEXER POSITIONING OPERATION Device No. Signal name Description Remarks 1 station 2 stations (Device name) occupied occupied Monitor output execution When RYn8 is turned ON, the following data and signals are RYn8 RYn8 demand set. At the same time, RXn8 turns ON. While RYn8 is ON, the monitor values are kept updated.
Page 529 16. INDEXER POSITIONING OPERATION Device No. Signal name Description Remarks 1 station 2 stations (Device name) occupied occupied Position instruction execution When RY(n 2) is turned on, the next station number set in the RY(n 2)0 demand remote register RWwn 4 is set. When it is set to the servo amplifier, the respond code indicating normal or error is set to RWrn 2.
Page 530 16. INDEXER POSITIONING OPERATION Device No. Signal name Description Remarks 1 station 2 stations (Device name) occupied occupied Speed selection 1 Set the servo motor speed, acceleration time constant, and RY(n 2)C deceleration time constant for positioning operation by Speed selection 2 RY(n 2)D selecting the point table number from 1 to 8 using RY(n 2)C, Speed selection 3...
Page 531 16. INDEXER POSITIONING OPERATION (2) Output signals (Output device) POINT The output devices can be used for both the remote output and the external output signals of CN6 connector. The signal whose Device No. field has an oblique line cannot be used in CC-Link. Device No.
Page 532 16. INDEXER POSITIONING OPERATION Device No. Signal name Description 1 station 2 stations (Device name) occupied occupied RXnA turns ON when a warning occurs. RXnA RXnA Warning When no warning has occurred, RXnA turns OFF within about 1s after power-on. RXnB turns ON when Open battery cable warning (A92) or Battery warning RXnB RXnB...
Page 533 16. INDEXER POSITIONING OPERATION Device No. Signal name Description 1 station 2 stations (Device name) occupied occupied Trouble A trouble is assigned to the CN6-15 pin as an external output signal. RX(n 1)A RX(n 3)A RX(n 1)A or RX(n 3)A turns ON when the protective circuit is activated to shut off the base circuit.
Page 534 16. INDEXER POSITIONING OPERATION Remote register Signal name Description Setting range 1 station 2 stations occupied occupied RWwn 3 RWwn 3 Writing data Sets the written data used to perform parameter or point Refer to section table data write, alarm history clear or the like. 16.2.4 (2).
Page 535: Monitor Codes
16. INDEXER POSITIONING OPERATION 16.2.3 Monitor codes To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the instruction codes 0101 to 011C to read the decimal point position (multiplying factor) of the status indication. Setting any code No.
Page 536: Instruction Codes (Rwwn 2 Rwwn 3)
16. INDEXER POSITIONING OPERATION 16.2.4 Instruction codes (RWwn 2 RWwn 3) Refer to section 3.6.2 for the instruction code timing charts. (1) Read instruction codes The word data requested to be read with the instruction code 0000h to 0AFFh is read by Read code (RWrn 3).
Page 537 16. INDEXER POSITIONING OPERATION Reading data (RWrn 3) contents Code No. Item/Function (Servo amplifier Programmable controller) 0040h Input device status 0 bit 0 to bit F indicate the OFF/ON statuses of the corresponding input Reads the statuses (OFF/ON) of the input devices.
Page 538 16. INDEXER POSITIONING OPERATION Reading data (RWrn 3) contents Code No. Item/Function (Servo amplifier Programmable controller) 0050h Output device status 0 bit 0 to bit F indicate the OFF/ON statuses of the corresponding Reads the statuses (OFF/ON) of the Output output devices.
Page 539 16. INDEXER POSITIONING OPERATION Reading data (RWrn 3) contents Code No. Item/Function (Servo amplifier Programmable controller) 0081h Energization time Returns the energization time [h]. Reads the energization time from shipment. Energization time 0082h Power ON frequency Returns the number of power-on times. Reads the number of power-on times from shipment.
Page 540 16. INDEXER POSITIONING OPERATION Reading data (RWrn 3) contents Code No. Item/Function (Servo amplifier Programmable controller) Parameter group reading 0200h 0 0 0 Reads the parameter group to be read with code No.8200h to be written. Parameter group 0: Basic setting parameters (No.PA 1: Gain/filter parameters (No.PB 2: Extension setting parameters (No.PC 3: I/O setting parameters (No.PD...
Page 541 16. INDEXER POSITIONING OPERATION (2) Write instruction codes Set the data, which was requested to be written with the instruction code 8010h to 91FFh. Set the instruction code No. corresponding to the item to Instruction code (RWwn 2) and the written data to Writing data (RWwn 3).
Page 542 16. INDEXER POSITIONING OPERATION Writing data (RWwn 3) contents Code No. Item (Programmable controller Servo amplifier) Acceleration time constant data RAM 8701h Convert the values into hexadecimal before setting. command of point table Writes the acceleration time constants of point 87FFh table No.1 to 255 to RAM.
Page 543: Respond Codes (Rwrn 2)
16. INDEXER POSITIONING OPERATION 16.2.5 Respond codes (RWrn 2) If any of the monitor codes, instruction codes, Next station, Point table Nos./Speed command data set to the remote register is outside the setting range, the corresponding error code is set to respond code (RWwn 2). "0000"...
Page 544: Signal
16. INDEXER POSITIONING OPERATION 16.3 Signal 16.3.1 Signal (device) explanation POINT In the indexer positioning operation, devices assigned to the CN6 connector cannot be changed. (1) I/O device (a) Input device Connector Device Symbol Functions/Applications pin No. Forced stop CN6-1 Turn EMG off (open between commons) to bring the motor to an emergency stop state, in which the base circuit is shut off and the dynamic brake is operated.
Page 545 16. INDEXER POSITIONING OPERATION (b) Output device POINT Output devices assigned to the CN6 connector pins can be used with the remote output of the CC-Link communication function. Connector Device Symbol Functions/Applications pin No. Ready CN6-14 RD turns ON when the servo amplifier is ready to operate after servo-on. Trouble CN6-15 ALM turns off when power is switched off or the protective circuit is activated to...
Page 546 16. INDEXER POSITIONING OPERATION (3) Output signals Refer to section 4.8.2 for the output interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins. Connecto Device Symbol Functions/Applications r pin No. division Encoder A-phase pulse CN6-11 Outputs pulses per servo motor revolution set in parameter No.PA15 DO-2...
Page 547: Detailed Description Of Signals (Devices)
16. INDEXER POSITIONING OPERATION 16.3.2 Detailed description of signals (devices) (1) Forward rotation start reverse rotation start temporary stop/restart (a) A start (RYn1) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established. Normally, it is interlocked with the ready signal (RD).
Page 548 16. INDEXER POSITIONING OPERATION (b) Rough match The following timing charts show the relationships between the signal and the position command generated in the servo amplifier. This timing can be changed using parameter No.PC11 (rough match output range). RXn2 turns ON in the servo-on status. Start (RYn1) 3ms or less Forward...
Page 549 16. INDEXER POSITIONING OPERATION (3) Torque limit If the torque limit is canceled during servo lock, the servo motor may suddenly CAUTION rotate according to position deviation in respect to the command position. POINT In the indexer positioning operation, the torque limit 2 becomes automatically effective depending on the operation status.
Page 550: Switching Power On For The First Time
16. INDEXER POSITIONING OPERATION 16.4 Switching power on for the first time Do not operate the switches with wet hands. You may get an electric shock. WARNING Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc.
Page 551: Wiring Check
16. INDEXER POSITIONING OPERATION 16.4.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L ) of the servo amplifier should satisfy the defined specifications.
Page 552: Surrounding Environment
16. INDEXER POSITIONING OPERATION 2) When regenerative option is used over 5kW for 200V class and 3.5kW for 400V class The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. The generative brake option should be connected to P terminal and C terminal.
Page 553: Startup
16. INDEXER POSITIONING OPERATION 16.5 Startup 16.5.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off the servo-on (RYn0). 2) Make sure that the start (RYn1) is off. 3) Switch on the main circuit power supply and control circuit power supply.
Page 554: Test Operation
16. INDEXER POSITIONING OPERATION 16.5.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 16.5.1 for the power on and off methods of the servo amplifier. Test operation of servo motor In this step, confirm that the servo amplifier and servo motor alone in JOG operation of test operate normally.
Page 555: Parameter Setting
16. INDEXER POSITIONING OPERATION 16.5.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor requires the parameter No.PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (A16) will occur at power-on.
Page 556: Point Table Setting
16. INDEXER POSITIONING OPERATION 16.5.5 Point table setting Set necessary items to the point table before starting operation. The following table indicates the items that must be set. Name Description Not used in indexer positioning operation. Position data Do not change this value by any means. Servo motor speed Set the command speed of the servo motor for execution of positioning.
Page 557: Servo Amplifier Display
16. INDEXER POSITIONING OPERATION 16.6 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the status of communication with the CC-Link controller at power-on, check the station number, and diagnose a fault at occurrence of an alarm. (1) Display sequence Servo amplifier power ON (Note 3)
Page 558 16. INDEXER POSITIONING OPERATION (2) Indication list Indication Status Description Power of the CC-Link master module was switched on at the condition that the power of Waiting for CC-Link b # # CC-Link master module is OFF. communication The CC-Link master module is faulty. The servo was switched on after completion of initialization and the servo amplifier is d # # (Note 1)
Page 559: Automatic Operation Mode
16. INDEXER POSITIONING OPERATION 16.7 Automatic operation mode POINT In the absolute position detection system, the following restriction condition applies for the number of gears on machine-side (parameter No.PA06 CMX) and servo motor speed (N). When CMX 2000, N 3076.7 r/min When CMX 2000, N 3276.7–CMX r/min...
Page 560: Automatic Operation Mode 1 (Rotation Direction Specifying Indexer)
16. INDEXER POSITIONING OPERATION 16.7.2 Automatic operation mode 1 (Rotation direction specifying indexer) In this operation mode, the servo motor rotates in the fixed direction and executes positioning to a station. (1) When not using the remote register Select the station number using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5), and execute positioning.
Page 561 16. INDEXER POSITIONING OPERATION 2) Setting the number of stations Set the number of stations in the parameter No.PC46. Parameter No.PC46 setting value 0000 to 0002 0003 0004 00FF Number of stations No.1 No.2 No.2 No.1 No.3 No.1 Station No. No.254 No.1 No.0...
Page 562 16. INDEXER POSITIONING OPERATION Select the point table using the speed selection 1 (RY(n 2)C) to speed selection 3 (RY(n 2)E). Turn on the start (RYn1) to execute positioning with the speed data set in the point table. Rotation direction of the servo motor is the direction set in the rotation direction specifying (RYn2).
Page 563 16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7)
Page 564 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes the next station selection (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and speed selection (RY(n 2)C to RY(n 2)E) earlier, considering the delay time of CC-Link communication. 2.
Page 565 16. INDEXER POSITIONING OPERATION (b) Other parameter settings 1) Setting the servo motor rotation direction and allocation direction of station numbers Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction selection). Setting is the same as that for when not using the remote register. Refer to (1) (b) 1) in this section.
Page 566 16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. 1) When using the speed data of point table Operation mode selection 1 (RYn6) Operation mode selection 2...
Page 567 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs 3.
Page 568 16. INDEXER POSITIONING OPERATION 2) When directly setting the servo motor speed Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) Position/speed specifying system selection (RYn 2)A (Note 2) No.1 No.3 No.1 Next station (RWwn 4) Point table No./Speed command data Speed 1 Speed 2 Speed 3...
Page 569 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs.
Page 570: Automatic Operation Mode 2 (Shortest Rotating Indexer)
16. INDEXER POSITIONING OPERATION 16.7.3 Automatic operation mode 2 (Shortest rotating indexer) In this operation mode, the servo motor automatically changes the direction for the shortest distance and executes positioning. (1) When not using the remote register Select the station number using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5), and execute positioning.
Page 571 16. INDEXER POSITIONING OPERATION Select the point table using the speed selection 1 (RY(n 2)C) to speed selection 3 (RY(n 2)E). Turn on the start (RYn1) to execute positioning with the speed data set in the point table. When one station is occupied, RY(n 2)C, RY(n 2)D, and RY(n 2)E are not available so that the point table number cannot be selected.
Page 572 16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7)
Page 573 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes the next station selection (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and speed selection (RY(n 2)C to RY(n 2)E) earlier, considering the delay time of CC-Link communication. 2.
Page 574 16. INDEXER POSITIONING OPERATION (b) Other parameter settings (Setting the number of stations) Set the number of stations in the parameter No.PC46. Setting is the same as that for the automatic operation mode 1. Refer to (1) (b) 2) in section 16.7.2. In the automatic operation mode 2, the station No.
Page 575 16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. 1) When using the speed data of point table Operation mode selection 1 (RYn6) Operation mode selection 2...
Page 576 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs.
Page 577 16. INDEXER POSITIONING OPERATION 2) When directly setting the servo motor speed (only when 2 stations are occupied) Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) Position/speed specifying system selection (RYn 2)A (Note 2) No.1 No.3 No.1 Next station (RWwn 4) Point table No./speed command data...
Page 578 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs.
Page 579: Manual Operation Mode
16. INDEXER POSITIONING OPERATION 16.8 Manual operation mode For adjusting the machine or home position, JOG operation or indexer JOG operation can be used to move the position to any position. 16.8.1 Indexer JOG operation (1) Setting Set the devices and parameters as indicated below according to the purpose of use. In this case, the next station selection 1 to 8 (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and the speed selection 1 to 3 (RY(n 2)C to RY(n 2)E) are invalid.
Page 580 16. INDEXER POSITIONING OPERATION (3) Operation Turn on the start (RYn1) to operate the servo motor with the servo motor speed, acceleration time constant, and deceleration time constant set in the point table No.1. Turning off RYn1 makes the servo motor execute positioning to the station where the servo motor can decelerate to stop.
Page 581: Jog Operation
16. INDEXER POSITIONING OPERATION 16.8.2 JOG operation (1) Setting Set the devices and parameters as indicated below for the purpose of use. In this case, the next station selection 1 to 8 (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and the speed selection 1 to 3 (RY(n 2)C to RY(n 2)E) are invalid.
Page 582: Home Position Return Mode
16. INDEXER POSITIONING OPERATION 16.9 Home position return mode 16.9.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off.
Page 583 16. INDEXER POSITIONING OPERATION (2) Home position return parameter When performing home position return, set each parameter as follows. (a) Choose the home position return method with parameter No.PC02 (Home position return type). Parameter No.PC02 Home position return method Not used in indexer postioning operation. C: Torque limit changing dog type D: Torque limit changing data setting type (b) Choose the starting direction of home position return with parameter No.PC03 (Home position return...
Page 584: Torque Limit Changing Dog Type Home Position Return
16. INDEXER POSITIONING OPERATION 16.9.2 Torque limit changing dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.
Page 585 16. INDEXER POSITIONING OPERATION (3) Timing chart Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) (Note) 4ms or 6ms or more more Start (RYn1) Point table No.1 Point table No.1 Home position return speed deceleration time acceleration Home position shift distance parameter No.PC04 constant time constant...
Page 586: Torque Limit Changing Data Setting Type Home Position Return
16. INDEXER POSITIONING OPERATION 16.9.3 Torque limit changing data setting type home position return POINT Torque limit becomes effective after completing the torque limit changing data setting type home position return, so that when the servo motor is rotated by the external force, a difference occurs in between the command position and the current position.
Page 587: Home Position Return Automatic Return Function
16. INDEXER POSITIONING OPERATION 16.9.4 Home position return automatic return function If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this function starts home position return after making a return to the position where the home position return can be made.
Page 588: Absolute Position Detection System
16. INDEXER POSITIONING OPERATION 16.10 Absolute position detection system If an absolute position erase alarm (A25) or an absolute position counter warning CAUTION (AE3) has occurred, always perform home position setting again. Not doing so may cause unexpected operation. POINT If the encoder cable is disconnected, absolute position data will be lost in the following servo motor series.
Page 589 16. INDEXER POSITIONING OPERATION (3) Structure Component Description Servo amplifier Use standard models. Servo motor Battery MR-J3BAT Encoder cable Use a standard model. (Refer to section 14.1.) (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
Page 590 16. INDEXER POSITIONING OPERATION (a) For MR-J3-350T or less MR-J3-200T4 or less POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
Page 591: Parameters
16. INDEXER POSITIONING OPERATION 16.11 Parameters Never adjust or change the parameter values extremely as it will make operation CAUTION instable. POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.
Page 592 16. INDEXER POSITIONING OPERATION (2) Parameter write inhibit Parameter Initial Unit Setting range value Symbol Name PA19 *BLK Parameter write inhibit 000Ch Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting.
Page 593 16. INDEXER POSITIONING OPERATION (4) Selection of regenerative option Parameter Initial Unit Setting range value Symbol Name PA02 *REG Regenerative option 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting.
Page 594 16. INDEXER POSITIONING OPERATION (6) Electronic gear Parameter Initial Unit Setting range value Symbol Name PA06 *CMX Number of gears on machine-side 1 to 16384 PA07 *CDV Number of gears on servo motor-side 1 to 16384 False setting will result in unexpected fast rotation, causing injury. CAUTION POINT This parameter is made valid when power is switched off, then on after...
Page 595 16. INDEXER POSITIONING OPERATION (a) Example 1 When the number of pulley teeth on the machine-side is 50, and the number of pulley teeth on the servo motor side is 20. Parameter No.PA06: 50 Number of pulley teeth on Parameter No.PA07: 20 macine side: 50 Number of pulley teeth on servo motor side: 20...
Page 596 16. INDEXER POSITIONING OPERATION (7) Auto tuning Parameter Initial Unit Setting range value Symbol Name PA08 Auto tuning mode 0001h Refer to the text. PA09 Auto tuning response 1 to 32 Make gain adjustment using auto tuning. Refer to section 9.2 for details. (a) Auto tuning mode (parameter No.PA08) Select the gain adjustment mode.
Page 597 16. INDEXER POSITIONING OPERATION (8) In-position range Parameter Initial Unit Setting range value Symbol Name PA10 In-position range pulse 0 to 10000 Set the range for outputting the movement completion (RXnC) and the in position (RXn1) in command pulse unit. Servo motor Droop pulse Command pulse Command pulse...
Page 598 16. INDEXER POSITIONING OPERATION (10)Station No. direction selection Parameter Initial Unit Setting range value Symbol Name PA14 *POL Station No. direction selection POINT This parameter is made valid when power is switched off, then on after setting. Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction selection).
Page 599 16. INDEXER POSITIONING OPERATION (11)Encoder output pulse Parameter Initial Unit Setting range value Symbol Name pulse/ PA15 *ENR Encoder output pulse 4000 1 to 65535 POINT This parameter is made valid when power is switched off, then on after setting. Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier.
Page 600: Gain/Filter Parameters (No.pb )
16. INDEXER POSITIONING OPERATION 16.11.2 Gain/filter parameters (No.PB (1) Parameter list Symbol Name Initial value Unit PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h Vibration suppression control tuning mode PB02 VRFT 0000h (Advanced vibration suppression control) PB03 For manufacturer setting 0000h PB04 Feed forward gain...
Page 601 16. INDEXER POSITIONING OPERATION (2) Detail list Setting Symbol Name and function Initial value Unit range PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatically changes the machine resonance suppression filter 1 (parameter No.PB13) and notch shape selection (parameter No.PB14).
Page 602 16. INDEXER POSITIONING OPERATION Setting Symbol Name and function Initial value Unit range PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression 0000h control) The vibration suppression is valid when the parameter No.PA08 (auto tuning) setting is " 2" or " 3".
Page 603 16. INDEXER POSITIONING OPERATION Setting Symbol Name and function Initial value Unit range PB05 For manufacturer setting Do not change this value by any means. PB06 Ratio of load inertia moment to servo motor inertia moment Multiplier Used to set the ratio of the load inertia moment to the servo motor shaft inertia ( 1) moment.
Page 604 16. INDEXER POSITIONING OPERATION Setting Symbol Name and function Initial value Unit range PB14 NHQ1 Notch shape selection 1 0000h Refer to Used to selection the machine resonance suppression filter 1. name and function column. Notch depth selection Setting value Depth Gain Deep...
Page 605 16. INDEXER POSITIONING OPERATION Setting Symbol Name and function Initial value Unit range PB18 Low-pass filter 3141 rad/s Set the low-pass filter. Setting parameter No.PB23 (low-pass filter selection) to " 0 " automatically 18000 changes this parameter. When parameter No.PB23 is set to " 1 ", this parameter can be set manually.
Page 606 16. INDEXER POSITIONING OPERATION Setting Symbol Name and function Initial value Unit range PB25 For manufacturer setting 0000h Do not change this value by any means. PB26 *CDP Gain changing selection 0000h Refer to Select the gain changing condition. (Refer to section 10.6.) name and function column.
Page 607 16. INDEXER POSITIONING OPERATION Setting Symbol Name and function Initial value Unit range PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 100.0 setting is "...
Page 608: Extension Setting Parameters (No.pc )
16. INDEXER POSITIONING OPERATION 16.11.3 Extension setting parameters (No.PC (1) Parameter list Symbol Name Initial value Unit PC01 For manufacturer setting 0000h PC02 *ZTY Home position return type 0000h PC03 *ZDIR Home position return direction 0001h PC04 Home position return speed r/min PC05 Creep speed...
Page 609 16. INDEXER POSITIONING OPERATION Symbol Name and function Initial value Unit PC49 For manufacturer setting 0000h PC50 0000h (2) Detail list Symbol Name and function Initial value Unit Setting range PC01 For manufacturer setting 0000h Do not change this value by any means. PC02 *ZTY Home position return type...
Page 610 16. INDEXER POSITIONING OPERATION Symbol Name and function Initial value Unit Setting range PC13 Not used in indexer positioning operation. Do not change the parameter. PC14 *BKC Backlash compensation pulse Used to set the backlash compensation made when the command direction is reversed.
Page 611 16. INDEXER POSITIONING OPERATION Symbol Name and function Initial value Unit Setting range PC20 *SNO Station number setting station Used to specify the station number for RS-422 serial communication and USB communication. Always set one station to one axis of servo amplifier. If one station number is set to two or more stations, normal communication cannot be made.
Page 612 16. INDEXER POSITIONING OPERATION Symbol Name and function Initial value Unit Setting range PC29 For manufacturer setting 0000h Do not change this value by any means. PC30 *DSS Remote register-based position/speed specifying system selection 0000h Refer to This parameter is made valid when Position/speed specification selection name and (RY(n 2)A) is turned ON with 2 stations occupied.
Page 613 16. INDEXER POSITIONING OPERATION Symbol Name and function Initial value Unit Setting range PC46 *STN Indexer positioning operation number of stations/rotation 0000h Number of 0000h Set the number of stations (dividing number) per machine rotation. When stations the setting value is 2 or lower, the number of stations is set to 2. 00FFh Number of Setting value...
Page 614: I/O Setting Parameters (No.pd )
16. INDEXER POSITIONING OPERATION (4) Rough match output Rough match (RXn2) is output when the command remaining distance reaches the value set in parameter No.PC11 (rough match output range). The setting range is 0 to 65535 [pulse]. Command remaining distance [pulse] set in parameter No.PC11 Actual servo motor speed Servo motor...
Page 615 16. INDEXER POSITIONING OPERATION (2) Detail list Initial Symbol Name and function Unit Setting range value PD01 *DIA1 Input signal automatic ON selection 1 0000h Refer to Select the input devices to be automatically turned ON. name and part is for manufacturer setting. Do not set the value by any means. function column.
Page 616 16. INDEXER POSITIONING OPERATION Initial Symbol Name and function Unit Setting range value PD17 For manufacturer setting 0000h Do not change this value by any means. PD18 0000h PD19 *DIF Response level setting 0002h Refer to Used to select the input. name and function 0 0 0...
Page 617 16. INDEXER POSITIONING OPERATION Initial Symbol Name and function Unit Setting range value PD24 *DOP5 Function selection D-5 0000h Select the output status of the warning (RXnA). Selection of output device at warning occurrence Select the warning (RXnA) and trouble (RX(n 1)A or RX(n 3)A) output status at warning occurrence.
Page 618 16. INDEXER POSITIONING OPERATION (3) Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid The setting of the first digit of parameter No.PD20 enables to select a stopping method of the servo motor when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns off. Parameter No.PD20 Stopping method when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) is valid...
Page 619: Troubleshooting
16. INDEXER POSITIONING OPERATION 16.12 TROUBLESHOOTING 16.12.1 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the MR Configurator, you can refer to unrotated servo motor reasons, etc.
Page 620: Operation At Error Occurrence
16. INDEXER POSITIONING OPERATION 16.12.2 Operation at error occurrence An error occurring during operation will result in any of the statuses indicated in the following table. Operation mode Error location Description Test operation CC-Link operation Servo side alarm Servo operation Stop Stop occurrence...
Page 621: When Alarm Or Warning Has Occurred
16. INDEXER POSITIONING OPERATION 16.12.4 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (RYn0) at occurrence of an alarm. (1) Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to (2), (3) in this section and take the appropriate action.
Page 622 16. INDEXER POSITIONING OPERATION (2) Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase (A25) occurred, always make home position setting again.
Page 623 16. INDEXER POSITIONING OPERATION Cause Display Name Definition Action Memory error 2 EEP-ROM fault 1. Faulty parts in the servo amplifier Change the servo amplifier. (EEP-ROM) Checking method Alarm (A15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
Page 624 16. INDEXER POSITIONING OPERATION Cause Display Name Definition Action Regenerative Permissible 1. Wrong setting of parameter No. Set correctly. error regenerative power PA02 of the built-in 2. Built-in regenerative resistor or Connect correctly regenerative resistor regenerative option is not connected. or regenerative 3.
Page 625 16. INDEXER POSITIONING OPERATION Definition Cause Display Name Action Overcurrent Current that flew is 1. Short occurred in servo motor power Correct the wiring. higher than the (U, V, W). permissible current 2. Transistor (IPM, IGBT) of the servo Change the servo amplifier. of the servo amplifier faulty.
Page 626 16. INDEXER POSITIONING OPERATION Display Name Definition Cause Action Parameter Parameter setting is 1. Servo amplifier fault caused the Change the servo amplifier. error wrong. parameter setting to be rewritten. 2. Regenerative option not used with Set parameter No.PA02 correctly. servo amplifier was selected in parameter No.PA02.
Page 627 16. INDEXER POSITIONING OPERATION Display Name Definition Cause Action Overload 1 Load exceeded 1. Servo amplifier is used in excess of 1. Reduce load. overload protection its continuous output current. 2. Check operation pattern. characteristic of 3. Use servo motor that provides larger servo amplifier.
Page 628 16. INDEXER POSITIONING OPERATION Display Name Definition Cause Action Error excessive The difference 1. Acceleration/deceleration time Increase the acceleration/deceleration between the model constant is too small. time constant. position and the 2. Forward rotation torque limit Increase the torque limit value. actual servo motor (parameter No.PA11) or reverse position exceeds...
Page 629 16. INDEXER POSITIONING OPERATION Display Name Definition Cause Action (Note) Watchdog CPU, parts faulty. Fault of parts in servo amplifier. Change the servo amplifier. Checking method Alarm (888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable.
Page 630 16. INDEXER POSITIONING OPERATION If AE6 occur, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Remove the cause of warning according to this section. Use the MR Configurator to refer to a factor of warning occurrence.
Page 631 16. INDEXER POSITIONING OPERATION Display Name Definition Cause Action Open battery Absolute position 1. Battery cable is open. Repair cable or changed. cable warning detection system battery 2. Battery voltage supplied from the servo Change the battery. voltage is low. amplifier to the encoder fell to about 3V or less.
Page 632 16. INDEXER POSITIONING OPERATION Display Name Definition Cause Action Absolute position Absolute position 1. Noise entered the encoder. Take noise suppression counter warning encoder pulses faulty. measures. 2. Encoder faulty. Change the servo motor. The multi-revolution 3. The movement amount from the home Make home position setting counter value of the position exceeded a 32767 rotation or...
Page 633: Point Table Error
16. INDEXER POSITIONING OPERATION 16.12.5 Point table error When a point table error occurs, the parameter error (A37) occurs. After the parameter No. of parameter error (A37), the point table error details are displayed. A L 3 7 # 0 0 P B 1 0 P B 1 1 P B 1 2...
Page 634: Appendix
APPENDIX App. 1 Parameter list POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. Basic setting parameters (PA Gain/filter parameters (PB Symbol Name Symbol...
Page 635 APPENDIX Extension setting parameters (PC I/O setting parameters (PD Symbol Name Symbol Name PC01 For manufacturer setting PD01 *DIA1 Input signal automatic ON selection 1 PC02 *ZTY Home position return type PD02 For manufacturer setting PC03 *ZDIR Home position return direction PD03 *DIA3 Input signal automatic ON selection 3...
Page 636: App. 2 Signal Layout Recording Paper
APPENDIX App. 2 Signal layout recording paper DOCOM DICOM App. - 3...
Page 637: App. 3 Twin Type Connector: Outline Drawing For 721-2105/026-000(Wago)
APPENDIX App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO) [Unit: mm] Latch Coding finger Detecting hole 4 5( 20) 26.45 15.1 5.25 4.75 2.75 Driver slot Wire inserting hole App. - 4...
Page 638: App. 4 Change Of Connector Sets To The Rohs Compatible Products
APPENDIX App. 4 Change of connector sets to the RoHS compatible products Connector sets (options) in the following table are changed to the RoHS compatible products after September, 2006 shipment. Please accept that the current products might be mixed with RoHS compatible products based on availability. Model Current product RoHS compatible product...
Page 639: App. 5 Mr-J3-200T-Rt Servo Amplifier
APPENDIX App. 5 MR-J3-200T-RT servo amplifier Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. The difference between new MR-J3-200T servo amplifier and existing MR-J3-200T-RT servo amplifier is described in this appendix.
Page 640 APPENDIX App. 5.2 Configuration including auxiliary equipment (1.7 Configuration including auxiliary equipment) (Note 3) R S T Power supply No-fuse breaker (NFB) or fuse Magnetic contactor MR Configurator Personal (MC) computer (Note2) Servo amplifier Line noise filter (FR-BSF01) (Note 2) Power factor improving DC reactor(FR-BEL)
Page 641 APPENDIX App. 5.3 CNP1, CNP2, CNP3 wiring method (4.3.3 CNP1, CNP2, CNP3 wiring method) (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 PC4/6-STF-7.62-CRWH (Phoenix Contact) Servo amplifier <Applicable cable example> Cable finish OD: to CNP1 Connector for CNP3 PC4/3-STF-7.62-CRWH...
Page 642 APPENDIX App. 5.4 OUTLINE DRAWINGS (Chapter 12 OUTLINE DRAWINGS) [Unit: mm] 6 mounting hole Approx. 80 Rating plate 21.4 CNP1 CNP3 CNP2 Approx. Cooling fan Approx. 68 25.5 wind direction With MR-J3BAT Mass: 2.3 [kg] (5.07 [lb]) Terminal signal layout Approx.
Page 643: App. 6 Selection Example Of Servo Motor Power Cable
APPENDIX App. 6 Selection example of servo motor power cable POINT Selection condition of wire size is as follows. Wire length: 30m or less Depending on the cable selected, there may be cases that the cable does not fit into the Mitsubishi optional or recommended cable clamp. Select a cable clamp according to the cable diameter.
Page 644: App. 7 Parameter List
APPENDIX App. 7 Parameter list POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. Basic setting parameters (PA Gain/filter parameters (PB Symbol Name Symbol...
Page 645 APPENDIX Extension setting parameters (PC I/O setting parameters (PD Symbol Name Symbol Name PC01 For manufacturer setting PD01 *DIA1 Input signal automatic ON selection 1 PC02 *ZTY Home position return type PD02 For manufacturer setting PC03 *ZDIR Home position return direction PD03 Not used in indexer positioning operation.
Page 646: App. 8 Program Example With Melsec-A Series Programmable Controllers
APPENDIX App. 8 Program example with MELSEC-A series programmable controllers (point table positioning operation) App. 8.1 Function-by-function programming examples This section explains specific programming examples for servo operation, monitor, parameter read and write, and others on the basis of the equipment makeup shown in appendix 8.1.1. App.8.1.1 System configuration example As shown below, the CC-Link system master local unit is loaded to run two servo amplifiers (1 station occupied / 2 stations occupied).
Page 647 APPENDIX App. 8.1.2 Reading the servo amplifier status Read the servo amplifier status from the master station buffer memory. The servo amplifier status is always stored in the remote input RX (addresses E0 to 15F ) Read the servo amplifier status of station 1 to M0 to M31.
Page 648 APPENDIX App. 8.1.3 Writing the operation commands To operate the servo amplifier, write the operation commands to the remote output RY (addresses 160 ). Perform positioning operation of point table No.2 for the servo amplifier of station 2. Start the operation by turning on X20. Servo-on command (RY00) Point table No.
Page 649 APPENDIX App. 8.1.4 Reading the data Read various data of the servo amplifier. (1) Reading the monitor value Read the (feedback pulse value) of the servo amplifier of station 2 to D1. Data No. Description H000A Cumulative feedback pulse data (hexadecimal) Read the cumulative feedback pulse monitor by turning on X20.
Page 650 APPENDIX (2) Reading the parameter Read parameter No.PA04 "Function selection A-1" of the servo amplifier of station 2 to D1. Data No. Description H8200 Parameter group selection H2024 Parameter No.PA04 setting (hexadecimal) Read the parameter No.PA04 by turning on X20. The respond code at instruction code execution is set to D9.
Page 651 APPENDIX (3) Reading the alarm definition Read the alarm definition of the servo amplifier of station 2 to D1. Data No. Description H0010 Occurring alarm/warning No. (hexadecimal) Read current alarms by turning on X20. The respond code at instruction code execution is set to D9. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263.
Page 652 APPENDIX App. 8.1.5 Writing the data This section explains the programs for writing various data to the servo amplifier. (1) Writing the servo motor speed data of point table Change the servo motor speed data in the point table No.1 of the servo amplifier of station 2 to "100". The following shows a program example for writing data to the servo amplifier when two stations are occupied.
Page 653 APPENDIX (2) Writing the parameter The following shows a program example when two stations are occupied. Change parameter No.PC12 (JOG speed) of the servo amplifier of station 2 to "100". The parameter group PC is specified as follows. Code No. Description 8200h Parameter group selection...
Page 654 APPENDIX (3) Servo amplifier alarm resetting program examples (a) Deactivate the alarm of the servo amplifier of station 2 by issuing a command from the programmable controller. Reset the servo amplifier on the occurrence of a servo alarm by turning on X20. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263.
Page 655 APPENDIX App. 8.1.6 Operation This section explains the operation programs of the servo amplifier. (1) JOG operation Perform JOG operation of the servo amplifier of station 1 and read the "current position" data. Code No. Description H0001 Lower 16-bit data of current position (hexadecimal) H0002 Upper 16-bit data of current position (hexadecimal) Start the forward rotation JOG operation by turning on X22.
Page 656 APPENDIX (2) Remote register-based position data/speed data setting The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 after specifying the position data as "100000" and the speed data as "1000" in the direct specification mode. Preset "...
Page 657 APPENDIX (3) Remote register-based point table No. setting (incremental value command system) The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 with incremental values after specifying the point table No.5 in the direct specification mode.
Page 658 APPENDIX App. 8.2 Continuous operation program example This section shows a program example which includes a series of communication operations from a servo start. The program will be described on the basis of the equipment makeup shown in appendix 8.2.1, appendix 8.2.3.
Page 659 APPENDIX App. 8.2.2 Program example when 1 station is occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "current position"...
Page 660 APPENDIX Forward rotation start request Forward rotation JOG command Reverse rotation start request Positioning start command Reverse rotation JOG command Positioning start command Rough Home position position match return completion Point table establishment time 10ms *1 Forward rotation start request Command request time 10ms *1 Forward rotation start request reset Point table No.
Page 661 APPENDIX App. 8.2.3 System configuration example when 2 stations are occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifiers (2 station occupied). Programmable controller Master station Input module Power supply A1SJ61BT11 A1SX40 A1S62PN A1SHCPU (X/Y00 to 1F)
Page 662 APPENDIX App. 8.2.4 Program example when 2 stations are occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "motor speed"...
Page 663 APPENDIX Positioning start command Forward rotation start request Forward rotation JOG command Reverse rotation start request Reverse rotation JOG command Position/speed specifying system selection (RY4A) Position/speed setting system changing command Rough Home position position match return completion Writes position command data (K50000) to RWw4, RWw5, and speed data (K100) to RWw6.
Page 664 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Apr., 2006 SH(NA)030058-A First edition Jul., 2006 SH(NA)030058-B Chapter 2 CAUTION added Section 3.5.2(2) Description of DB changed Section 3.5.3 Note deleted Section 3.6.3(1) On duration: 5ms of RYn1 and RYn2 in diagram modified Section 3.6.3(2)
Page 665 Print Data *Manual Number Revision Oct., 2007 SH(NA)030058-C Section 13.2 400V compatible added Section 13.3 Dynamic brake time constant and load inertia moment ratio compatible with 400V added. The calculation methods and graph in section 13.3.1, the permissible load inertia moment in 13.3.2, each divided by paragraph.
Page 666 Print Data *Manual Number Revision Feb., 2008 SH(NA)030058-D Section 4.10.2 Figure partially changed (3)(b) Section 4.11.2 (1) Change of diagram Section 4.11.2 (5) No-fuse breaker for cooling fan added to (8) Section 5.3 (1) Change of diagram Section 5.3 (2) Indication description and Note 2 added Section 7.2 (1) Component description changed...
Page 667 Print Data *Manual Number Revision Jun., 2008 SH(NA)030058-E Section 5.6.11 (2) Note. Change of sentence Section 5.6.12 (2) Note. Change of sentence Section 6.3 Parameter No.PC28 added Section 6.4.3 Addition Section 6.4.4 Addition Section 7.7.1 Starting method added Section 11.4.2 “Cause”...
Page 668 MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030058-E (0806) MEE Printed in Japan Specifications subject to change without notice.

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