Mitsubishi Electric MELSERVO-J3W, MR-J3W-0303BN6, MR-J3W-1010B, MR-J3W-22B, MR-J3W-44B Instruction Manual

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General-Purpose AC Servo

J3W Series

SSCNET interface 2-axis AC Servo Amplifier

MODEL

MR-J3W-0303BN6 MR-J3W- B

SERVO AMPLIFIER INSTRUCTION MANUAL

The following servo motors will be available in the future. All specifications of followings may be changed without notice.

HG-AK0136B HG-AK0236B HG-AK0336B

For situations of conformity with UL/CSA standard of the MR-J3W-0303BN6 servo amplifier, contact your local sales office.

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. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

: Indicates what must not be done. For example, "No Fire" is indicated by

: Indicates what must be done. For example, grounding is indicated by

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, always keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock. Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier with the protective earth (PE) of the control box. When using an earth-leakage current breaker (RCD), select the type B. To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to a fire. Always connect a magnetic contactor between the power supply and the main circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. Always connect a circuit protector between the power supply and power supply voltage input terminals (24, 0, and M) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier's power supply. If a circuit protector is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor. Always connect a molded-case circuit breaker to the power supply of the servo amplifier.

A - 2

3. To prevent injury, note the following

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged. During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

4. 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 mass. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The servo amplifier and servo motor must be installed in the specified direction. Leave specified clearances between the servo amplifier and control enclosure walls or other equipment. Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing. Do not block the intake and exhaust areas of the servo amplifier. Doing so may cause faults. Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads. Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The geared servo motor must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, contact your local sales office. When treating the servo amplifier be careful about the edged parts such as the corners of the servo amplifier. The servo amplifier must be installed in the metal cabinet.

A - 3

CAUTION

When you keep or use it, please fulfill the following environmental conditions.

Ambient temperature

Ambient humidity

Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level

(Note) Vibration resistance

Note. Except the servo motor with a reduction gear.

Item

Operation

Storage

Operation 90 RH or less (non-condensing) 80 RH or less (non-condensing) Storage 90

[ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing) [

] 32 to 131 (non-freezing) 32 to 104 (non-freezing) [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing) [

] 4 to 149 (non-freezing) 5 to 158 (non-freezing)

RH or less (non-condensing)

5.9 m/s (directions of X, Y and Z axes)

Servo amplifier Servo motor

at 10 to 55Hz

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer or radio noise filter (FR-BIF 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. Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Environment

HF-MP series HF-KP series

HF-SP51 52

HC-UP72

HF-JP53

73 103

HC-LP52

HG-AK series X, Y: 49 m/s

X, Y: 49 m/s

X, Y: 24.5 m/s

X: 9.8 m/s

Y: 24.5 m/s

Servo amplifier

Servo motor

Servo motorServo amplifier

A - 4

(2) Wiring

CAUTION

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier

24VDC

DOCOM

Servo amplifier

24VDC

DOCOM

Control output signal

DICOM

For the sink output interface

Control output signal

DICOM

For the source output interface

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block (connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified torque. Connecting an encoder for different axis to the CN2A or CN2B connector may cause a malfunction. Connecting a servo motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. Never adjust or change the parameter values extremely as it will make operation instable.

(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. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier. Use the servo amplifier with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

A - 5

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with an electromagnetic brake or an external brake mechanism for the purpose of prevention. Configure a electromagnetic brake circuit so that it is activated also by an external emergency stop switch.

Contacts must be opened when a malfunction (ALM-A/ALM-B) and when an electromagnetic brake interlock (MBR-A/ MBR-B).

Servo motor

Contacts must be opened with the emergency stop switch.

Electromagnetic brake

24VDC

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual.

A - 6

DISPOSAL OF WASTE

Please dispose a converter unit, servo amplifier (drive unit), battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes

Precautions for Choosing the Products

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

A - 7

COMPLIANCE WITH CE MARKING

Refer to Appendix 3 for the compliance with CE marking.

COMPLIANCE WITH UL/CSA STANDARD

Refer to Appendix 4 for the compliance with UL/CSA standard.

<<About the manuals>>

This Instruction Manual and the following Servo Amplifier/Servo Motor Instruction Manuals (Vol.2) are required if you use the General-Purpose AC servo MR-J3Wuse the MR-J3WRefer to chapter 15 for using MR-J3W-0303BN6.

Relevant manuals

MELSERVO-J3W Series Instructions and Cautions for Safe Use of AC Servos IB(NA)0300148 MELSERVO Servo Motor Instruction Manual (Vol.2)(Note 1) SH(NA)030041 EMC Installation Guidelines IB(NA)67310 SSCNET III Interface Linear Servo MR-J3- B-RJ004 INSTRUCTION MANUAL (Note 2) SH(NA)030054 SSCNET III Interface Direct drive servo MR-J3- B-RJ004 INSTRUCTION MANUAL (Note 3) In production

Note 1. Required to use the rotary servo motor.

2. Required to use the linear servo motor.

3. Required to use the direct drive motor.

<<Wiring>>

B safely.

Manual name Manual No.

B for the first time. Always purchase them and

Wires mentioned in this instruction manual are selected based on the ambient temperature of 40

A - 8

(104 ).

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 - 10

1.1 Summary .................................................................................................................................................. 1 - 1

1.2 Function block diagram............................................................................................................................ 1 - 2

1.3 Servo amplifier standard specifications................................................................................................... 1 - 3

1.4 Function list .............................................................................................................................................. 1 - 5

1.5 Model code definition ............................................................................................................................... 1 - 6

1.6 Combination with servo motor .................................................................................................................1 - 7

1.7 Parts identification.................................................................................................................................... 1 - 8

1.8 Configuration including auxiliary equipment ........................................................................................... 1 - 9

2. INSTALLATION 2 - 1 to 2 - 6

2.1 Installation direction and clearances .......................................................................................................2 - 1

2.2 Keep out foreign materials ....................................................................................................................... 2 - 3

2.3 Cable stress ............................................................................................................................................. 2 - 3

2.4 SSCNET

2.5 Inspection items .......................................................................................................................................2 - 5

2.6 Parts having service lives ........................................................................................................................ 2 - 6

cable laying........................................................................................................................... 2 - 3

3. SIGNALS AND WIRING 3 - 1 to 3 -40

3.1 Input power supply circuit ........................................................................................................................ 3 - 2

3.2 I/O signal connection example ................................................................................................................ 3 - 4

3.3 Explanation of power supply system ....................................................................................................... 3 - 6

3.3.1 Signal explanations ........................................................................................................................... 3 - 6

3.3.2 Power-on sequence ..........................................................................................................................3 - 8

3.3.3 CNP1, CNP2, CNP3A, CNP3B wiring method ................................................................................ 3 - 9

3.4 Connectors and signal arrangements ....................................................................................................3 -12

3.5 Signal (device) explanations................................................................................................................... 3 -13

3.6 Alarm occurrence timing chart................................................................................................................ 3 -17

3.6.1 Timing chart...................................................................................................................................... 3 -17

3.6.2 Supplementary information.............................................................................................................. 3 -18

3.7 Interfaces ................................................................................................................................................. 3 -19

3.7.1 Internal connection diagram ............................................................................................................ 3 -19

3.7.2 Detailed description of interfaces..................................................................................................... 3 -20

3.7.3 Source I/O interfaces ....................................................................................................................... 3 -22

3.8 Treatment of cable shield external conductor ........................................................................................3 -23

3.9 SSCNET

3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -26

3.10.1 Connection instructions.................................................................................................................. 3 -26

3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -27

3.11 Servo motor with an electromagnetic brake......................................................................................... 3 -31

3.11.1 Safety precautions ......................................................................................................................... 3 -31

3.11.2 Timing charts.................................................................................................................................. 3 -33

3.11.3 Wiring diagrams (HF-MP series

3.12 Grounding.............................................................................................................................................. 3 -38

cable connection .................................................................................................................3 -24

HF-KP series servo motor)..................................................... 3 -36

3.13 Control axis selection............................................................................................................................ 3 -39

3.14 Servo motor selection switch (SW3) .................................................................................................... 3 -40

4. STARTUP 4 - 1 to 4 -14

4.1 Switching power on for the first time ....................................................................................................... 4 - 2

4.1.1 Startup procedure.............................................................................................................................. 4 - 2

4.1.2 Wiring check ......................................................................................................................................4 - 3

4.1.3 Surrounding environment.................................................................................................................. 4 - 4

4.2 Startup ...................................................................................................................................................... 4 - 4

4.3 Servo amplifier display............................................................................................................................. 4 - 6

4.3.1 Scrolling display................................................................................................................................. 4 - 6

4.3.2 Status display of an axis ................................................................................................................... 4 - 7

4.4 Test operation ..........................................................................................................................................4 - 9

4.5 Test operation mode ............................................................................................................................... 4 -10

4.5.1 Test operation mode in MR Configurator ........................................................................................ 4 -10

4.5.2 Motor-less operation in controller .................................................................................................... 4 -12

5. PARAMETERS 5 - 1 to 5 -30

5.1 Basic setting parameters (No.PA ) ................................................................................................... 5 - 1

5.1.1 Parameter list ....................................................................................................................................5 - 2

5.1.2 Parameter write inhibit ......................................................................................................................5 - 3

5.1.3 Selection of control mode ................................................................................................................. 5 - 4

5.1.4 Selection of regenerative option .......................................................................................................5 - 4

5.1.5 Using absolute position detection system ........................................................................................5 - 5

5.1.6 Forced stop input selection ............................................................................................................... 5 - 5

5.1.7 Auto tuning ........................................................................................................................................ 5 - 6

5.1.8 In-position range................................................................................................................................ 5 - 7

5.1.9 Selection of servo motor rotation direction ....................................................................................... 5 - 8

5.1.10 Encoder output pulse ......................................................................................................................5 - 8

5.2 Gain/filter parameters (No.PB

5.2.1 Parameter list ...................................................................................................................................5 -10

5.2.2 List of details..................................................................................................................................... 5 -11

5.3 Extension setting parameters (No.PC

5.3.1 Parameter list ...................................................................................................................................5 -17

5.3.2 List of details..................................................................................................................................... 5 -18

5.3.3 Analog monitor .................................................................................................................................5 -21

5.3.4 Alarm history clear............................................................................................................................ 5 -23

5.4 I/O setting parameters (No.PD

5.4.1 Parameter list ...................................................................................................................................5 -24

5.4.2 List of details..................................................................................................................................... 5 -25

5.5 Option setting parameters (No.Po

5.5.1 List of parameters............................................................................................................................. 5 -27

5.5.2 List of details.....................................................................................................................................5 -28

)........................................................................................................ 5 -10

) ...........................................................................................5 -17

) ......................................................................................................5 -24

) .................................................................................................5 -27

6. GENERAL GAIN ADJUSTMENT 6 - 1 to 6 -12

6.1 Different adjustment methods.................................................................................................................. 6 - 1

6.1.1 Adjustment on a single servo amplifier............................................................................................. 6 - 1

6.1.2 Adjustment using MR Configurator................................................................................................... 6 - 2

6.2 Auto tuning ............................................................................................................................................... 6 - 3

6.2.1 Auto tuning mode .............................................................................................................................. 6 - 3

6.2.2 Auto tuning mode basis .................................................................................................................... 6 - 4

6.2.3 Adjustment procedure by auto tuning............................................................................................... 6 - 5

6.2.4 Response level setting in auto tuning mode ....................................................................................6 - 6

6.3 Manual mode 1 (simple manual adjustment).......................................................................................... 6 - 7

6.4 Interpolation mode ..................................................................................................................................6 -11

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 to 7 -10

7.1 Function block diagram............................................................................................................................ 7 - 1

7.2 Machine resonance suppression filter..................................................................................................... 7 - 1

7.3 Vibration suppression control manual mode........................................................................................... 7 - 3

7.4 Low-pass filter .......................................................................................................................................... 7 - 5

7.5 Gain changing function ............................................................................................................................7 - 5

7.5.1 Applications .......................................................................................................................................7 - 5

7.5.2 Function block diagram .....................................................................................................................7 - 6

7.5.3 Parameters ........................................................................................................................................ 7 - 7

7.5.4 Gain changing procedure.................................................................................................................. 7 - 9

8. TROUBLESHOOTING 8 - 1 to 8 -34

8.1 Alarms and warning list............................................................................................................................ 8 - 1

8.2 Troubleshooting at power on ................................................................................................................... 8 - 3

8.3 Remedies for alarms................................................................................................................................ 8 - 4

8.4 Remedies for warnings ........................................................................................................................... 8 -29

9. OUTLINE DRAWINGS 9 - 1 to 9 - 4

9.1 Servo amplifier .........................................................................................................................................9 - 1

9.2 Connector ................................................................................................................................................. 9 - 3

10. CHARACTERISTICS 10- 1 to 10- 8

10.1 Overload protection characteristics ...................................................................................................... 10- 1

10.2 Power supply equipment capacity and generated loss .......................................................................10- 2

10.3 Dynamic brake characteristics.............................................................................................................. 10- 4

10.3.1 Dynamic brake operation............................................................................................................... 10- 4

10.3.2 The dynamic brake at the load inertia moment............................................................................. 10- 6

10.4 Cable bending life .................................................................................................................................10- 6

10.5 Inrush currents at power-on of main circuit and control circuit ............................................................10- 7

11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-56

11.1 Cable/connector sets ............................................................................................................................ 11- 1

11.1.1 Combinations of cable/connector sets ..........................................................................................11- 1

11.1.2 Encoder cable/connector sets .......................................................................................................11- 9

11.1.3 Motor power supply cables ...........................................................................................................11-20

11.1.4 Motor brake cables........................................................................................................................11-21

11.1.5 SSCNET

11.1.6 Battery cable..................................................................................................................................11-24

11.2 Regenerative options ...........................................................................................................................11-25

11.3 MR-BTCASE battery case and MR-BAT battery ................................................................................ 11-30

11.4 MR Configurator ...................................................................................................................................11-31

11.5 Selection example of wires ..................................................................................................................11-36

11.6 No-fuse breakers, fuses, magnetic contactors ...................................................................................11-40

11.7 Power factor improving AC reactors ................................................................................................... 11-41

11.8 Relays (recommended) .......................................................................................................................11-42

11.9 Noise reduction techniques ................................................................................................................. 11-42

11.10 Earth-leakage current breaker...........................................................................................................11-49

11.11 EMC filter (recommended) ................................................................................................................11-52

11.12 Junction terminal block MR-TB26A................................................................................................... 11-54

11.13 Surge absorbers (recommended) .....................................................................................................11-55

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 8

12.1 Features ............................................................................................................................................... 12-.1

12.2 Specifications ........................................................................................................................................ 12- 2

12.3 Assembling a battery unit ..................................................................................................................... 12- 5

12.3.1 Required items ...............................................................................................................................12- 5

12.3.2 Disassembly and assembly of the battery case MR-BTCASE..................................................... 12- 5

12.3.3 Battery transportation..................................................................................................................... 12- 7

12.4 Confirmation of absolute position detection data................................................................................. 12- 8

cable ..........................................................................................................................11-22

13. USING A LINEAR SERVO MOTOR 13- 1 to 13-84

13.1 Functions and configuration ................................................................................................................. 13- 1

13.1.1 Summary ........................................................................................................................................ 13- 1

13.1.2 Combinations of Servo Amplifiers and Linear Servo Motors........................................................ 13- 2

13.1.3 Configuration including auxiliary equipment.................................................................................. 13- 4

13.2 Connection of servo amplifier and linear servo motor .........................................................................13- 5

13.2.1 Connection instructions.................................................................................................................. 13- 5

13.2.2 Power supply cable wiring diagrams............................................................................................. 13- 6

13.3 Linear encoder ......................................................................................................................................13- 7

13.3.1 Compatible linear encoder list ....................................................................................................... 13- 7

13.3.2 Linear encoder and branch cable .................................................................................................. 13- 8

13.4 Signals and wiring ................................................................................................................................. 13- 9

13.4.1 Precautions on this chapter ..........................................................................................................13-10

13.4.2 Power supply system circuit connection example ....................................................................... 13-10

13.4.3 Internal connection diagram .........................................................................................................13-13

13.5 Operation and functions....................................................................................................................... 13-14

13.5.1 Startup ...........................................................................................................................................13-14

13.5.2 Magnetic pole detection ................................................................................................................ 13-17

13.5.3 Home position return.....................................................................................................................13-26

13.5.4 Test operation mode in MR Configurator .....................................................................................13-29

13.5.5 Operation from the controller ........................................................................................................13-30

13.5.6 Functions .......................................................................................................................................13-33

13.5.7 Absolute position detection system ..............................................................................................13-35

13.6 Parameters ........................................................................................................................................... 13-36

13.6.1 Parameter write inhibit (Parameter No.PA19).............................................................................. 13-37

13.6.2 Basic setting parameters (No.PA

13.6.3 Gain/Filter parameters (No.PB

13.6.4 Extension setting parameters (No.PC

13.6.5 I/O setting parameters (No.PD

13.6.6 Special setting parameters (No.PS

13.6.7 Option setting parameter .............................................................................................................. 13-57

13.7 Troubleshooting ...................................................................................................................................13-58

13.7.1 Alarms and warning list................................................................................................................. 13-58

13.7.2 Remedies for alarms ..................................................................................................................... 13-60

13.7.3 Remedies for warnings .................................................................................................................13-80

13.7.4 Detailed explanation of linear encoder error 1 (2A.

14. USING A DIRECT DRIVE MOTOR 14- 1 to 14-72

14.1 Functions and configuration ................................................................................................................. 14- 1

14.1.1 Summary ........................................................................................................................................ 14- 1

14.1.2 Combinations of servo amplifier and direct drive motor ............................................................... 14- 2

14.1.3 Configuration including peripheral equipment............................................................................... 14- 3

14.2 Connection of servo amplifier and direct drive motor ..........................................................................14- 4

14.3 Signals and wiring ................................................................................................................................. 14- 5

14.3.1 Notes of this chapter ......................................................................................................................14- 6

14.3.2 Input power supply circuit .............................................................................................................. 14- 7

14.3.3 Internal connection diagram ......................................................................................................... 14-10

14.4 Operation and functions....................................................................................................................... 14-11

14.4.1 Startup procedure ......................................................................................................................... 14-12

14.4.2 Magnetic pole detection ................................................................................................................14-13

14.4.3 Operation from controller .............................................................................................................. 14-20

14.4.4 Function ......................................................................................................................................... 14-25

14.5 Parameters ........................................................................................................................................... 14-27

14.5.1 Parameter writing inhibit (parameter No.PA19) ...........................................................................14-28

14.5.2 Basic setting parameters (No.PA

14.5.3 Gain/filter parameters (No.PB ).............................................................................................. 14-32

14.5.4 Extension setting parameters (No.PC

14.5.5 I/O setting parameters (No.PD

14.5.6 Special setting parameters (No.PS )...................................................................................... 14-36

14.5.7 Option setting parameters (No.Po

14.6 Troubleshooting ...................................................................................................................................14-41

14.6.1 Alarm and warning list................................................................................................................... 14-41

14.6.2 Remedies for alarms ..................................................................................................................... 14-43

14.6.3 Remedies for warnings .................................................................................................................14-56

14.7 Characteristics .....................................................................................................................................14-61

14.7.1 Overload protection characteristics ..............................................................................................14-61

14.7.2 Dynamic brake characteristics...................................................................................................... 14-62

14.8 Options for direct drive motor ..............................................................................................................14-64

14.8.1 Cable/connector sets ....................................................................................................................14-64

14.8.2 Absolute position storage unit MR-BTAS01................................................................................. 14-71

)......................................................................................... 13-38

)............................................................................................. 13-42

) ................................................................................. 13-45

)............................................................................................. 13-51

)...................................................................................... 13-52

) ................................................................13-84

)......................................................................................... 14-29

) ................................................................................. 14-34

)............................................................................................. 14-35

) ....................................................................................... 14-40

15. MR-J3W-0303BN6 SERVO AMPLIFIER 15- 1 to 15-72

15.1 Functions and configuration ................................................................................................................. 15- 1

15.1.1 Function block diagram ..................................................................................................................15- 2

15.1.2 Servo amplifier standard specifications ......................................................................................... 15- 3

15.1.3 Model designation .......................................................................................................................... 15- 5

15.1.4 Combination with servo motor ....................................................................................................... 15- 5

15.1.5 Parts identification ..........................................................................................................................15- 6

15.1.6 Configuration including peripheral equipment............................................................................... 15- 7

15.2 Installation (direction and clearances).................................................................................................. 15- 8

15.3 Signals and wiring ................................................................................................................................ 15-10

15.3.1 Input power supply circuit .............................................................................................................15-11

15.3.2 I/O signal connection example...................................................................................................... 15-13

15.3.3 Explanation of power supply system ............................................................................................ 15-15

15.3.4 Connectors and pin assignment ................................................................................................... 15-19

15.3.5 Alarm occurrence timing chart ......................................................................................................15-20

15.3.6 Connection of servo amplifier and HG-AK series servo motor.................................................... 15-23

15.3.7 Servo motor with an electromagnetic brake................................................................................. 15-26

15.3.8 Grounding...................................................................................................................................... 15-31

15.4 Startup .................................................................................................................................................. 15-32

15.4.1 Startup procedure ......................................................................................................................... 15-33

15.4.2 Troubleshooting during "24V ERROR" lamp on. .........................................................................15-33

15.4.3 Wiring check ..................................................................................................................................15-34

15.4.4 Surrounding environment .............................................................................................................15-35

15.5 Parameters ........................................................................................................................................... 15-36

15.5.1 Basic setting parameters (No.PA

15.5.2 Extension setting parameters (No.PC

15.5.3 Manufacturer setting parameters (No.PE

15.5.4 Other function parameters (No.PF

15.5.5 Option setting parameters (No.Po

15.6 Troubleshooting ...................................................................................................................................15-44

15.7 Dimensions...........................................................................................................................................15-52

15.8 Characteristics .....................................................................................................................................15-53

15.8.1 Overload protection characteristics ..............................................................................................15-53

15.8.2 Power supply capacity and generated loss.................................................................................. 15-54

15.8.3 Dynamic brake characteristics...................................................................................................... 15-54

15.8.4 Inrush currents at power-on of main circuit and control circuit ....................................................15-56

15.9 Options and peripheral equipment ...................................................................................................... 15-57

15.9.1 Cable/connector sets .................................................................................................................... 15-57

15.9.2 Selection example of wires ........................................................................................................... 15-64

15.9.3 Circuit protector ............................................................................................................................. 15-65

15.10 Absolute position detection system ...................................................................................................15-66

15.10.1 Features ...................................................................................................................................... 15-66

15.10.2 Specifications ..............................................................................................................................15-67

15.10.3 Battery replacement procedure ..................................................................................................15-69

15.10.4 Battery mounting/removing procedure .......................................................................................15-70

15.10.5 Procedure to replace battery with the control circuit power off.................................................. 15-71

)......................................................................................... 15-36

) ................................................................................. 15-38

)............................................................................ 15-42

)....................................................................................... 15-43

) ....................................................................................... 15-43

APPENDIX App.- 1 to App.-17

App. 1 Difference between MR-J3-B and MR-J3W-B ..............................................................................App.- 1

App. 2 Signal layout recording paper ........................................................................................................App.- 5

App. 3 COMPLIANCE WITH CE MARKING.............................................................................................App.- 6

App. 4 COMPLIANCE WITH UL/CSA STANDARD .................................................................................App.- 9

App. 5 Handling of AC servo amplifier batteries for the United Nations

Recommendations on the Transport of Dangerous Goods.........................................................App.-14

App. 6 Symbol for the new EU Battery Directive .....................................................................................App.-15

App. 7 Recommended cable for servo amplifier power supply ...............................................................App.-16

MEMO

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

The Mitsubishi AC servo amplifier MELSERVO-J3W series is an AC servo that requires less space, less wiring, and less energy while it maintains high performance, functionality and usability of MELSERVO-J3-B. Two servo motors can be driven by this MR-J3W servo amplifier. Driving two servo motors by one MR-J3W servo amplifier cuts down the installation area compared to the area required for two MR-J3 servo amplifiers. Side-by-side installation is also available, making the system more compact. Integrated 2-axis structure allows two axes to share the same SSCNET main circuit power cable, cutting down the wiring area. The capacitor in the MELSERVO-J3W series is re-charged, doubling the reusable energy compared to it of the MELSERVO-J3 series. Regenerative energy is generated during deceleration of a servo motor. By reusing that energy, much energy is saved. Depending on the operating condition, the regenerative option may be disabled. The MR-J3W-77B servo amplifier has a 100W regenerative resistor built in, making the regenerative option unnecessary even for a large regenerative load. By simply shifting the switch, a rotary servo motor, a linear servo motor or a direct drive motor can be used for each axis for the MR-J3W servo amplifier. A rotary servo motor, a linear servo motor and a direct drive motor with different capacities can be connected to the MR-J3W-22B and MR-J3W-44B servo amplifier axes. Using MELSERVO-J3W makes the linear servo motor and the direct drive motor structure simple and the equipment compact with high performance. Using MELSERVO-J3W also saves the space. As explained above, integrated 2-axis structure, multi-function, and improved regeneration efficiency reduce the required parts for a servo system.

cable, control circuit power cable, and

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

Regenerative option

(Note 2) Power supply

MCCB

Servo amplifier

Diode stack

CNP1CNP2

L11

L21

Base amplifier

Relay

CHARGE

(Note 1)

Control

circuit power

supply

lamp

Cooling fan

PC D

CNP2

Regenerative TR

Built-in regenerative resistor

TRM(A)

TRM(B)

Current

detector

Current

detector

Dynamic

brake circuit

(A)

Dynamic

brake circuit

(B)

A-axis Servo motor

CNP3ACN2A

24VDC

Encoder

B-axis Servo motor

CNP3BCN2B

24VDC

Electromagnetic brake

Virtual

motor

Current

detection

Virtual

encoder

Encoder

MR BTCASE

CN4

Optional battery

Regenerative

brake

Control (A)

Model position

control (A)

Overcurrent

Model speed

control (A)

Current

detection

Virtual

encoder

Virtual

motor

Overvoltage

Control (B)

Model position

control (B)

Overcurrent

Model speed

control (B)

Case Battey (for absolute position detection system)

Actual position

control (A)

CN1A CN1B

Controller or

servo amplifier

Actual speed

control (A)

I/F

Control

Servo amplifier

or cap

Current

control (A)

Personal computer

Actual position

control (B)

USB

CN5

USB

Actual speed

control (B)

D/A

Analog monitor

(2 channels)

Current

control (B)

CN3

Digital I/O

control

1 - 2

1. FUNCTIONS AND CONFIGURATION

Note 1. MR-J3W-22B dose not have a cooling fan.

2. For 1-phase 200 to 230VAC, connect the power supply to L specification.

1.3 Servo amplifier standard specifications

Servo amplifier

MR-J3W-

Item

Rated output capacity

Rated voltage 3-phase 170VAC

Output

Rated current [A] 1.5 1.5 2.8 2.8 5.8 5.8 6.0 6.0 Voltage, frequency 3-phase or 1-phase 200 to 230VAC, 50/60Hz 3-phase 200 to 230VAC, 50/60Hz Rated current [A] 3.5 6.1 10.4 13.9

Permissible voltage fluctuation

Permissible frequency fluctuation Within 5 Power supply capacity Refer to section 10.2

Main circuit power supply

Inrush current Refer to section 10.5

Voltage, frequency 1-phase 200 to 230VAC, 50/60Hz Rated current [A] 0.4 Permissible voltage

Control circuit power supply

Interface power supply

fluctuation Permissible frequency fluctuation Power consumption Inrush current Refer to section 10.5 Voltage 24VDC 10 Power supply capacity

[W] 55

[A] (Note 1) 0.25

22B 44B 77B 1010B

A-axis

200W

3-phase or 1-phase 200 to 230VAC:

1-phase 170 to 253VAC

Within

B-axis 200W

170 to 253VAC

1, L2 and leave L3 open. Refer to section 1.3 for the power supply

A-axis 400W

B-axis 400W

A-axis

750W

B-axis 750W

3-phase 170 to 253VAC

A-axis

1kW

B-axis

1kW

1 - 3

1. FUNCTIONS AND CONFIGURATION

Servo amplifier

MR-J3W-

Item

Reusable regenerative energy (Note 3) [J] Rotary servo motor’s inertia moment

Capacitor regenerative

Control system Sine-wave PWM control, current control system Built-in regenerative resistor [W] 10 100 Dynamic brake Built-in

Protective functions

Structure

Side-by-side installation (Note 2)

Ambient temperature

humidity

Ambient

Environmental conditions

Altitude Max. 1000m above sea level Vibration resistance 5.9 m/s2 at 10 to 55Hz (X, Y and Z directions)

Mass

Note 1. 0.25A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O

points.

2. When closely mounting MR-J3W-44B, operate them at 90

3. The regenerative energy is generated under the following conditions. Rotary servo motor: The energy is generated when a machine with the inertia moment equivalent to permissible charging amount

Linear servo motor: The energy is generated when a machine with the mass equivalent to permissible charging amount decelerates

Direct drive motor: The energy is generated when a machine with the inertia moment equivalent to permissible charging amount

4. This value is inertia moment when decelerating rotary servo motor from the rated speed to a stop. When decelerating two axes simultaneously, the inertia moment is a total of two axes. When not decelerating two axes simultaneously, the inertia moment is for one axis. This note also applies to the direct drive motor.

5. This value is mass when decelerating linear servo motor from the rated speed to a stop. The mass includes a mass of primary side (coil). When decelerating two axes simultaneously, the mass is a total of two axes. When not decelerating two axes simultaneously, the mass is for one axis.

equivalent to permissible charging amount (Note 4)

[

10-4kg m2] Linear servo motor’s mass equivalent to permissible charging amount (Note 5) [kg]

Self-cooled, open

Operation

Storage

Operation Ambient Storage

[kg] 1.4 2.3 [lb] 3.09 5.07

decelerates from the rated speed to stop.

from the maximum speed to stop.

decelerates from the rated speed to stop.

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal

[ ] 0 to 55 (non-freezing) [

] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) [

] 4 to 149 (non-freezing)

22B 44B 77B 1010B

17 22 46

3.45 4.46 9.32

8.5 11.0 23.0

relay), servo motor overheat protection, encoder error protection, regenerative error protection,

undervoltage, instantaneous power failure protection, overspeed protection, excessive error

protection, magnetic pole detection protection, Linear servo control error detection protection

(IP rating: IP00)

Free from corrosive gas, flammable gas, oil mist, dust and dirt

Force-cooling, open (IP rating: IP00)

RH or less (non-condensing)

Indoors (no direct sunlight)

or smaller effective load ratio.

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.

Function Description Reference

High-resolution encoder

Absolute position detection system

Gain changing function

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function

Slight vibration suppression control

Auto tuning

Regenerative option

Alarm history clear Alarm history is cleared. Parameter No.PC21 Output signal (DO) forced output

Test operation mode

Analog monitor output Servo status is output in terms of voltage in real time. Parameter No.PC09

MR Configurator

High-resolution encoder of 262144 pulses/rev is used as a rotary servo motor encoder. Merely setting a home position once makes home position return unnecessary at every power-on. Switches gains by using input devices or gain switching conditions (including the servo motor speed). Suppresses high-frequency resonance which occurs as servo system response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator installed personal computer and servo amplifier. MR Configurator is necessary for this function. Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. MR Configurator is necessary for this function. Personal computer with MR Configurator changes gains automatically and searches for overshoot-free gains in a short time. MR Configurator is necessary for this function.

Suppresses vibration of

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc. JOG operation However, MR Configurator is necessary for positioning operation.

Using a personal computer, parameter setting, test operation, status display, etc. can be performed.

positioning operation DO forced output

1 pulse produced at a servo motor stop. Parameters No.PB24

Chapter 12

Section 7.5

Section 7.4

Chapter 6

Section 11.2

Section 4.5.1 (1) (d)

Section 4.5

Section 11.4

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition

(1) Rating plate

MITSUBISHI

(2) Model

MODEL

POWER: INPUT:

OUTPUT: SERIAL: A99001050

KCC-REI-MEK-TC300A***G51

MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN

Series

MR-J3W-44B

400W(A)+400W(B)

6.1A 3PH+1PH200-230V 50Hz

170V 0-360Hz 2.8A(A)+2.8A(B)

AC SERVO

DATE 2011-08

3PH+1PH200-230V 60Hz

PASSED

SSCNET interface

Rated output

Rated outpur[W]

Symbol

A-axis 22 200 200 44 400 400 77 750 750

1010 1k 1k

B-axis

The year and month of manufacture

Model Capacity

Applicable power supply Rated output current

Serial number

KC mark number

Country of origin

Rating plate

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.6 Combination with servo motor

POINT Refer to section 13.1.2 for the combinations with linear servo motors. Refer to section 14.1.2 for the combinations with direct drive motors.

The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with an electromagnetic brake and the models with a reduction gear. With the servo amplifier whose software version is B3 or later, the following servo motors can be used without parameter change.

Servo amplifier

Servo motor MR-J3W-22B MR-J3W-44B MR-J3W-77B MR-J3W-1010B

A-axis B-axis A-axis B-axis A-axis B-axis A-axis B-axis HF-MP053 (Note 1) HF-MP13 (Note 1) HF-MP23 HF-MP43 (Note 1) (Note 1) HF-MP73 HF-KP053 (Note 1) HF-KP13 (Note 1) HF-KP23 HF-KP43 (Note 1) (Note 1) HF-KP73 HF-SP51 (Note 1) HF-SP81 HF-SP52 (Note 1) HF-SP102 HC-LP52 (Note 1) HC-LP102 HC-UP72 (Note 1) HF-JP53 (Note 2) (Note 2, 3) HF-JP73 (Note 2) (Note 2) HF-JP103 (Note 2)

Note 1. With the servo amplifier whose software version is B2 or earlier, this servo motor can be used by setting parameter No.Po04 to

1 ". With the servo amplifier whose software version is B3 or later, no parameter setting is required.

2. This servo motor can be used with the servo amplifier whose software version is B3 or later.

3. With this combination, the maximum torque of the HF-JP53 servo motor increases to 400

of the rated torque.

1 - 7

1. FUNCTIONS AND CONFIGURATION

1.7 Parts identification

Side view

SW1

TEST

SW2

ON 4E

Name/Application

Detailed

explanation

Display The 3-digit, seven-segment LED shows the servo status

Section 4.3

and alarm number. Rotary axis setting switch (SW1)

SW1

SW2

Used to set the axis No. of servo amplifier.

Test operation select switch (SW2-1) Used to perform the test operation

Section 3.13

mode by using MR Configurator.

to the "Down" position).

For manufacturer setting (Be sure to set

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Main circuit power supply connector (CNP1) Connect the input power supply.

USB communication connector (CN5) Connect the personal computer.

I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output.

Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option.

Section 3.1 Section 3.3

Section 11.4

Section 3.2 Section 3.4

Section 3.1 Section 3.3

SSCNET cable connector (CN1A) Used to connect the servo system controller or the front

Section 3.9

axis servo amplifier. A-axis servo motor power output connector (CNP3A)

Connect the A-axis servo motor.

Section 3.1 Section 3.3

SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final

Section 3.9

axis, puts a cap. A-axis servo motor encoder connector (CN2A)

Used to connect the A-axis servo motor encoder. B-axis servo motor encoder connector (CN2B)

Section 3.4

Section 11.1

Used to connect the B-axis servo motor encoder. Battery connector (CN4)

Used to connect the battery for absolute position data backup. Battery is not required in fully closed control.

Section 11.3

Chapter 12

B-axis servo motor power output connector (CNP3B) Connect the B-axis servo motor.

Protective earth (PE) terminal ( )

Section 3.1 Section 3.3

Ground terminal. Rating plate

Section 1.5

Servo motor selection switch (SW3)

A-axis

SW3

Bottom

Front side

B-axis

Used to select the servo motor to be used.

Section 3.14

OFF: Rotary servo motor ON : Linear servo motor and direct drive motor

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.8 Configuration including auxiliary equipment

CAUTION

(Note 2) Power supply

Molded-case circuit breaker (MCCB) or fuse

Magnetic contactor (MC)

Power factor improving AC reactor (FR-BAL)

Line noise filter (FR-BSF01)

RST

(Note 2)

Connecting a servo motor for different axis to the CNP3A or CNP3B connector may

cause a malfunction.

POINT Equipment other than the servo amplifier and the servo motor are optional or recommended products. To use a rotary servo motor, turn SW3 off (factory setting).

Servo amplifier

MR Configurator

CN5

L2 L

CNP1

CN3

(Note 3)

V U

CNP2

CNP3A

CNP3B

CN1A

CN1B

CN2A

Regenerative option

Personal computer

I/O signal

Servo system controller or Front axis servo amplifier CN1B

Rear servo amplifier CN1A or Cap

CN2B

(Note 1)

L L11

CN4

Battery

unit

A-axis servo motorB-axis servo motor

SW3

ON 12

Front side

A-axis

B-axis

Note 1. A battery unit consists of one MR-BTCASE battery case and eight MR-BAT batteries. Use the battery unit in the absolute position

detection system of the position control mode. (Refer to section 12.3.)

2. For 1-phase 200V to 230VAC, connect the power supply to L

1 L2 and leave L3 open. Refer to section 1.3 for the power supply

specification.

3. Make sure to connect the P

terminal to the D terminal. When using the regenerative option, refer to section 11.2.

1 - 9

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 10

2. INSTALLATION

WARNING

CAUTION

2.1 Installation direction and clearances

To prevent electric shock, ground each equipment securely.

Stacking in excess of the limited number of products is not allowed. Install the equipment on incombustible material. Installing it directly or close to

combustibles will lead to a fire.

Install the equipment in a load-bearing place in accordance with this Instruction

Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range. (For the

environmental conditions, refer to section 1.3.) Provide an adequate protection to prevent screws and other conductive matter, oil

and other combustible matter from entering the servo amplifier. Do not block the intake and exhaust areas of the servo amplifier. Doing so may

cause faults. Do not drop or strike the servo amplifier. Isolate from all impact loads. Do not install or operate the servo amplifier which has been damaged or has any

parts missing. Do not install or operate a faulty servo amplifier. When the product has been stored for an extended period of time, contact your local

sales office. When treating the servo amplifier, be careful about the edged parts such as the

corners of the servo amplifier. The servo amplifier must be installed in the metal cabinet.

The equipment must be installed in the specified direction. Otherwise, a fault may

CAUTION

When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.

occur. Leave specified clearances between the servo amplifier and control box inside walls

or other equipment. Doing so may cause faults.

2 - 1

2. INSTALLATION

(1) Installation of one servo amplifier

40mm or more

Servo amplifier

10mm or more

40mm or more

10mm or more

Wiring allowance 80mm

Control boxControl box

Top

Bottom

(2) Installation of two or more servo amplifiers

POINT

MR-J3W- B can be installed side-by-side. However, use MR-J3W-44B with the

effective load ratio of 90

or less.

Leave a large clearance between the inner surface of a control box and the servo amplifier to circulate air above and below the servo amplifier. When installing the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances.

1mm

Control box

100mm or more

1mm

Top

30mm or more

Control box

100mm or more

10mm or more

30mm or more

Bottom

40mm or more

Leaving clearance Mounting closely

40mm or more

2 - 2

2. INSTALLATION

2.2 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo

amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or

a cooling fan installed on the ceiling.

(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air

purge (force clean air into the control box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box.

2.3 Cable stress

(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight stress

are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with

having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the bending life range. Use the power supply and brake wiring cables within the bending life of the cables.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or

stamped by workers or vehicles.

(4) For installation on a machine where the servo motor will move, the bending radius should be made as large

as possible. Refer to section 10.4 for the bending life.

2.4 SSCNET

cable laying

SSCNET pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS down if being left near the fire or high temperature. Therefore, do not make it touched the part, which becomes high temperature, such as radiator or regenerative option of servo amplifier. Read described item of this section carefully and handle it with caution.

(1) Minimum bend radius

cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral

M MR-J3BUS M-A is made of synthetic resin, it melts

Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of equipment or others. For SSCNET consideration for the dimensions and arrangement of servo amplifier. When closing the door of control box, pay careful attention for avoiding the case that SSCNET bend becomes smaller than the minimum bend radius. For the minimum bend radius, refer to section 11.1.5.

cable, the appropriate length should be selected with due

cable is hold down by the door and the cable

2 - 3

2. INSTALLATION

(2) Prohibition of vinyl tape use

Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS from vinyl tape because the optical characteristic may be affected.

Optical cord Cable

(3) Precautions for migrating plasticizer added materials

Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating plasticizer and they do not affect the optical characteristic of SSCNET cable. However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS In addition, MR-J3BUS

M and MR-J3BUS M-A cables (made of plastic).

M-B cable (made of quartz glass) is not affected by plasticizer.

(4) Bundle fixing

Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET from putting its own weight on CN1A

CN1B connector of servo amplifier. Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizers. If using adhesive tape for bundling the cable, fire resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.

M, and MR-J3BUS M-A cables away

SSCNET cable Cord Cable

MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

: Phthalate ester plasticizer such as DBP and DOP

may affect optical characteristic of cable.

: Normally, cable is not affected by plasticizer.

cable

Connector

Optical cord Loose slack

Bundle material Recommended product:

NK clamp SP type ( NIX, INC.)

Cable

(5) Tension

If tension is added on optical cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of optical fiber or the connecting part of optical connector. At worst, the breakage of optical fiber or damage of optical connector may occur. For cable laying, handle without putting forced tension. For the tension strength, refer to section 11.1.5.

2 - 4

2. INSTALLATION

(6) Lateral pressure

If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of optical cable may occur. As the same condition also occurs at cable laying, do not tighten up optical cable with a thing such as nylon band (TY-RAP). Do not trample it down or tuck it down with the door of control box or others.

(7) Twisting

If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur at worst.

(8) Disposal

When incinerating optical cable (cord) used for SSCNET which is corrosive and harmful may be generated. For disposal of optical fiber, request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.

2.5 Inspection items

, hydrogen fluoride gas or hydrogen chloride gas

WARNING

CAUTION

It is recommended to make the following checks periodically.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check if the cables and the wires have no damage or crack. Perform periodic inspection according to

operating conditions.

(3) Check that the connector is securely connected to the servo amplifier.

(4) Check that the wires are not coming out from the connector.

(5) Check for dust accumulation on the servo amplifier.

(6) Check for unusual noise generated from the servo amplifier.

or not. To avoid an electric shock, only qualified personnel should attempt inspections. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.

Do not perform insulation resistance test on the servo amplifier as damage may

result.

Do not disassemble and/or repair the equipment on customer side.

2 - 5

2. INSTALLATION

2.6 Parts having service lives

Service lives of the following parts are listed below. However, the service lives vary depending on operating methods and environmental conditions. If any fault is found in the parts, they must be replaced immediately regardless of their service lives. For parts replacement, please contact your sales representative.

Part name Life guideline

Smoothing capacitor 10 years

Relay

Cooling fan 50,000 to 70,000 hours (2 to 3 years) Absolute position battery Refer to section 12.2

(1) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air–conditioned environment (40 less).

(2) Relays

Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their lives when the power is turned on and forced stop/controller forced stop occurs 100,000 times in total.

(3) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 50,000 to 70,000 hours. Normally, therefore, the fan must be changed in seven or eight years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection. The life of the servo amplifier cooling fan applies under an environment of an average ambient temperature of 40

(104 ) a year, and a corrosive gas-free, flammable gases-free, an oil-mist-free, and a dust-free

environment.

Number of power-on, forced stop, and controller forced stop times: 100000 times

(104 ) surrounding air temperature or

2 - 6

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work. Before wiring or inspection, turn off the power and wait for 15 minutes or more until

the charge lamp turns off. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not.

WARNING

Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been

installed. Otherwise, you may get an electric shock.

The cables should not be damaged, stressed excessively, loaded heavily, or

pinched. Otherwise, you may get an electric shock.

To avoid an electric shock, insulate the connections of the power supply terminals.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate

unexpectedly, resulting in injury. Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay for control output should be fitted

in the specified direction. Otherwise, the emergency stop and other protective

circuits may not operate.

CAUTION

Servo amplifier

24VDC

DOCOM

Control output signal

DICOM

For the sink output interface

Servo amplifier

DOCOM

Control output signal

DICOM

For the source output interface

24VDC

Use a noise filter, etc. to minimize the influence of electromagnetic interference,

which may be given to electronic equipment used near the servo amplifier. Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF

option) with the power line of the servo motor. When using the regenerative resistor, switch power off with the alarm signal.

Otherwise, a transistor fault or the like may overheat the regenerative resistor,

causing a fire. Do not modify the equipment. Connect the servo amplifier power output (U, V, and W) to the servo motor power

input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.

Otherwise, it may cause a malfunction.

Servo amplifier

Servo motor

Servo motorServo amplifier

3 - 1

3. SIGNALS AND WIRING

3.1 Input power supply circuit

Always connect a magnetic contactor between the power supply and the main circuit

power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit

that shuts down the power supply on the side of the servo amplifier’s power supply. If

a magnetic contactor is not connected, continuous flow of a large current may cause

a fire when the servo amplifier malfunctions.

CAUTION

Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command turned off as soon as an alarm occurs, a servo forced stop is made valid, or a controller forced stop is made valid. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.

Shut off the main circuit power supply when alarms are occurring in both of the A-

axis and the B-axis. Otherwise, a regenerative transistor fault or the like may

overheat the regenerative resistor, causing a fire.

Check the servo amplifier model, and then input proper voltage to the servo amplifier

power supply. If input voltage exceeds the upper limit, the servo amplifier will break

down.

POINT Even if alarm has occurred, do not switch off the control circuit power supply. When the control circuit power supply has been switched off, optical module does not operate, and optical transmission of SSCNET Therefore, the servo amplifier on the rear axis displays "AA" at the indicator and turns into base circuit shut-off. The servo amplifier stops with starting dynamic brake.

communication is interrupted.

3 - 2

3. SIGNALS AND WIRING

(Note 9) Power supply

(Note 3)

Malfunction

RA1(A-axis)

RA2(B-axis)

(Note 8)

MCMCCB

(Note 1)

Controller

forced stop

Forced stop

CNP1

CNP2

L21

OFF

(Note 6)

Servo amplifier

(Note 10)

CNP3A

CN2A

PE( )

(Note 10)

CNP3B

ONRA3

(Note 5)

(Note 2)

Encoder cable

(Note 5)

A-axis servo motor

Motor

Encoder

B-axis servo motor

Motor

(Note 2)

Encoder cable

24VDC

RA1

RA2

Encoder

A-axis malfunction (Note 3)

B-axis malfunction (Note 3)

(Note 4)

(Note 6) Forced stop

EM1

DOCOM

SW3 (Note 7)

Front side

A-axis B-axis

CN2B

CN3CN3

DOCOM

DICOM

ALM-A

ALM-B

Note 1. Always connect P and D. When using the regenerative option, refer to section 11.2.

2. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable.

3. If deactivating output of malfunction (ALM-A/ALM-B) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. In this connection example, the operation continues in the other axis when an alarm occurs in the A-axis or the B-axis. To stop both axes in an alarm occurrence, connect RA1 and RA2 in series.

4. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.

5. For the power line connection, refer to section 3.10.

6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of forced stop (EM1) using the external sequence.

7. This connection example is a connection using a rotary servo motor. Turn SW3 off (factory setting). (Refer to section 3.14.)

8. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval between current being applied to the coil until closure of contacts.

9. For 1-phase 200V to 230VAC, connect the power supply to L

1 L2 and leave L3 open. Refer to section 1.3 for the power supply

specification.

10. Connecting a servo motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.

3 - 3

3. SIGNALS AND WIRING

3.2 I/O signal connection example

(Note 14)

(Note 3, 4) Forced A-axis upper stroke limit (FLS) A-axis lower stroke limit (RLS)

(Note 15)

A-axis proximity dog (DOG) B-axis upper stroke limit (FLS) B-axis lower stroke limit (RLS) B-axis proximity dog (DOG)

(Note 5) MR Configurator

Personal computer

MR-J3USBCBL3M

10m or less 10m or less

Servo amplifier

(1 axis 2 axis)

(Note 10)

24VDC

DICOM

DOCOM

EM1 DI1-A DI2-A DI3-A DI1-B DI2-B DI3-B

USB cable

(option)

(Note 12)

CN3

23 26 10

7 8

9 20 21 22

CN5

(Note 12)

CN3

ALM-A

MBR-A

ALM-B

MBR-B

LA-A

LAR-A

LB-A

LBR-A

LA-B

LAR-B

LB-B

LBR-B

(Note 2)

RA1

RA2

RA3

RA4

A-axis malfunction

(Note 11)

A-axis electromagnetic brake interlock (Note 17)

B-axis malfunction

(Note 11)

B-axis electromagnetic brake interlock (Note 17)

A-axis encoder A-phase pulse (Differential line driver)

A-axis encoder B-phase pulse (Differential line driver)

B-axis encoder A-phase pulse (Differential line driver)

B-axis encoder B-phase pulse (Differential line driver)

(Note 13, 14)

Servo system

controller

(Note 6) SSCNET cable (option)

15 14

Plate

CN1A

SW1

SW2

CN1B

SW3 (Note 16)

A-axis

B-axis

Front side

MR-J3W-B

(3 axis 4 axis)

CN1A

CN1B

SW3 (Note 16)

Front sideFront side

(n-1 axis n axis)

CN1A

SW1

SW2

A-axis

B-axis

MR-J3W-B

SW1

2MO1 1LG

MO2

(Note 8)

(Note 1)

(Note 7)

(Note 8)

(Note 7)

10VDC Analog monitor 1

10VDC Analog monitor 2

(Note 9) Cap

CN1B

SW3 (Note 16)

A-axis

B-axis

SW2

(Note 8)

3 - 4

3. SIGNALS AND WIRING

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the

protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

3. If the controller does not have forced stop function, always install the forced stop 2 switch (Normally closed contact).

4. When starting operation, always turn on the forced stop (EM1). (Normally closed contact) By setting " No.PA04 the forced stop (EM1) can be made invalid.

5. Use MRZJW3-SETUP 221E. (Refer to section 11.4)

6. Use SSCNET

cables listed in the following table.

Cable Cable model name Cable length Standard cord inside panel MR-J3BUS M 0.15 to 3m Standard cable outside panel MR-J3BUS M-A 5 to 20m Long-distance cable MR-J3BUS M-B 30 to 50m

7. The wiring of the third and subsequent axes is omitted.

8. Up to sixteen axes may be connected. Refer to section 3.13 for setting of axis selection.

9. Make sure to put a cap on the unused CN1A

10. Supply 24VDC The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.7.2 (1) that gives the current value necessary for the interface.

11. Malfunction (ALM-A/ALM-B) turns on in normal alarm-free condition. (Normally closed contact)

12. The pins with the same signal name are connected in the servo amplifier.

13. The signal can be changed by parameter No.PD07, PD09.

14. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.

15. Devices can be assigned for DI1-A refer to the controller instruction manual. The assigned devices are for the Q173DCPU Q170MCPU, QD74MH

16. Select the servo motor to be used as below. (Refer to section 3.14.) OFF: Rotary servo motor, ON: Linear servo motor

17. When you use a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake mechanism.

10 250mA current for interfaces from the outside. 250mA is the value applicable when all I/O signals are used.

DI2-A DI3-A DI1-B DI2-B DI3-B with controller setting. For devices that can be assigned,

, QD75MH and LD77MH .

CN1B.

Q172DCPU Q173HCPU Q172HCPU,

1 " in parameter

3 - 5

3. SIGNALS AND WIRING

3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT

Keep the manufacturer-setting terminals open.

(1) Signal layout and connector application

CNP1

CNP2

(Note)

CNP3A W

CNP3B W

L11

Servo amplifier

Connector Name Function/Application

CNP1 Main circuit power supply connector Used to input the main circuit power

CNP2 Control circuit power supply connector Used to input the control circuit power

CNP3A A-axis Servo motor power connector Used to connect to the A-axis servo motor. CNP3B B-axis Servo motor power connector Used to connect to the B-axis servo motor.

supply.

supply. Used to connect the regenerative option.

Note. For manufacturer setting. Keep the manufacturer-setting terminals open.

3 - 6

3. SIGNALS AND WIRING

(2) Detailed description

Abbreviation

L1 L2 L3

P C D Regenerative option

L11 L21

U V W Servo motor power

Connection target

(Application)

Main circuit power supply

Control circuit power supply

Protective earth (PE)

Description

Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply, connect the power supply to L

3-phase 200V to 230VAC, 50/60Hz L1L2L3 1-phase 200V to 230VAC, 50/60Hz L1L2

When using servo amplifier built-in regenerative resistor, connect P regenerative option, connect regenerative option to P Refer to section 11.2. Supply the following power to L11 L21.

1-phase 200V to 230VAC, 50/60Hz L11 L21

Connect to the servo motor power supply terminals (U, V, W). Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control box to perform grounding.

Power supply

1, L2, and keep L3 open.

Servo amplifier

MR-J3W-22B MR-J3W-44B

and C.

MR-J3W-22B to MR-J3W-1010B

MR-J3W-77B

MR-J3W-1010B

and D. When using

3 - 7

3. SIGNALS AND WIRING

3.3.2 Power-on sequence

POINT A voltage, output signal, etc. of analog monitor output may be irregular at poweron.

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply (three-phase: L

(2) Timing chart

sequence which switches off the magnetic contactor when an alarm occurs in both A and B axes.

2) Switch on the control circuit power supply L or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on command within 3s the main circuit power supply is switched on. (Refer to paragraph (2) of this section.)

, L2, L3, single-phase: L1, L2). Configure an external

, L21 simultaneously with the main circuit power supply

Servo-on command accepted

(3s)

Main circuit Control circuit

Base circuit

Servo-on command (from controller)

power

ON OFF

95ms

(3) Forced stop

Install an forced stop circuit externally to ensure that operation can be stopped and

CAUTION

power shut off immediately.

If the controller does not have an forced stop function, make up a circuit that switches off main circuit power as soon as EM1 is turned off at a forced stop. When EM1 is turned off, the dynamic brake is operated to stop the servo motor. At this time, the display shows the servo forced stop warning (E6.1). During ordinary operation, do not use forced stop (EM1) to alternate stop and run. The service life of the servo amplifier may be shortened.

Servo amplifier

24VDC

(Note)

Forced stop

DICOM

EM1

95ms10ms

Note. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.

3 - 8

3. SIGNALS AND WIRING

3.3.3 CNP1, CNP2, CNP3A, CNP3B wiring method

POINT Refer to section 11.5 for the wire sizes used for wiring. Connectors to wire CNP1, CNP2, CNP3A, and CNP3B are not supplied with the servo amplifier.

This section shows the recommended products.

(1) Crimping type

Refer to section 11.1, and purchase the connector set.

Servo amplifier

CNP1

CNP2

CNP3A

3) CNP3B

Connector

No.

for

1) CNP1 J43FSS-03V-KX BJ4F-71GF-M3.0

2) CNP2 F32FMS-06V-KXY BF3F-71GF-P2.0

LF3F-41GF-P2.0

3-178129-6 917511-2

353717-2

CNP3A/

CNP3B

LF3F-41GF-P2.0

175363-1 917511-2

353717-2

175218-2 Option cable: MR-PWS CBL PEW12

Receptacle

housing

F35FDC-04V-K BF3F-71GF-P2.0

Model Description

Receptacle contact

Cable size: 1.25 to 2.0mm

Insulator OD: Cable size: 1.25 to 2.0mm

Insulator OD: Cable size: 0.75 to 1.25mm

Insulator OD: 1.8 to 2.8mm Cable size: 1.25 to 2.0mm

Insulator OD: Cable size: 1.25 to 2.0mm

Insulator OD: 3.3 to 3.8mm Cable size: 1.25 to 2.0mm

Insulator OD: Outer diameter of finished cable:

Insulator OD: Option cable: MR-PWS Cable size: 1.25 to 2.0mm

Insulator OD: Cable size: 1.25 to 2.0mm

Insulator OD:

(AWG16 to AWG14)

(AWG19 to AWG16)

(AWG16 to AWG14)

2.4 to 3.3mm

(AWG16 to AWG14)

2.0 to 3.8mm

2.4 to 3.4mm

2.2 to 2.8mm

2.4 to 3.4mm

1.8 to 2.8mm

2.2 to 2.8mm

3.3 to 3.8mm

CBL

Crimping tool Manufacturer

YRF-1130

YRF-1070

YRF-880

91560-1 TE Connectivity

91561-1

YRF-1070

YRF-880

91560-1 TE Connectivity

91561-1

1762957-1 (Dice)

Japan Solderless Terminals

3 - 9

3. SIGNALS AND WIRING

(2) Terminal block type (Spring type)

(a) Connector

Servo amplifier

No. Connector for Receptacle assembly

1) CNP1 03JFAT-SAXGFK-43

2) CNP2 06JFAT-SAXYGG-F-KK

CNP3A/

CNP3B

(b) Connection method

1) Stripping off the wire sheath For the strip-off length of the wire sheath, refer to table 3.1.

Table 3.1 Connectors and applicable wires

04JFAT-SAGG-G-KK

CNP1

CNP2

CNP3A CNP3B

Applicable

wire size

AWG16 to

AWG14

AWG16 to

AWG14

AWG19 to

AWG14

Strip-off length

[mm]

11.5 J-FAT-OT-EXL(Large size)

9 J-FAT-OT-EXL(Small size)

Open tool Manufacturer

Japan Solderless Terminals

Sheath

Strip-off length

Core wires

Twist the core wires lightly to straighten them as shown in the following figure.

Loose or bended

core wires

Make sure to twist

the core wires to strengthen them.

3 - 10

3. SIGNALS AND WIRING

2) Inserting the wire Insert the open tool as shown in the following figure, and push down the open tool to open the spring

hole. The open tool has protrusions for the CNP1 (large size) on one side and those for the others (small size) on another side. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the wire sheath does not get caught by the spring. The following shows a connection example of the CNP1 connector.

Open tool

Wire insertion hole

3) Securing the wire Release the open tool, and secure the wire. Pull the wire lightly, and check that the wire is connected

firmly.

3 - 11

3. SIGNALS AND WIRING

3.4 Connectors and signal arrangements

POINT

The pin configurations of the connectors are as viewed from the cable connector

wiring section.

CN5 (USB connector) Refer to section 11.4.

CN3

CN2A

LG 8

MRR

THM2

THM1

MDR

BAT

CN2B

LG 8

MRR

THM2

THM1

MDR

BAT

The 3M make connector is shown. When using any other connector, refer to section 11.1.2.

The frames of the CN2A, CN2B and CN3 connectors are connected to the PE (earth) terminal ( ) in the amplifier.

CN1A Connector for SSCNET cable for previous servo amplifier axis

CN1B Connector for SSCNET cable for next servo amplifier axis

MO1

LB-A

LB-B

DI2-A

EM1

MBR-A

LA-A

LA-B

DI1-A

DI3-A

ALM-A

MO2

LBR-A

LBR-B

DI2-B

DICOM

MBR-B

LAR-A

LAR-B

DI1-B

DI3-B

ALM-B

DOCOM

3 - 12

3. SIGNALS AND WIRING

3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.7.2. In the control mode field of the table The pin No.s in the connector pin No. column are those in the initial status.

(1) Connector applications

Connector Name Function/Application

CN1A Connector for bus cable from

preceding axis.

CN1B Connector for bus cable to

next axis CN2A A-axis encoder connector Used for connection with the A-axis servo motor encoder. CN2B B-axis encoder connector Used for connection with the B-axis servo motor encoder. CN4 (Note) Battery unit

connection connector

CN5 Communication connector The personal computer is connected.

Note. A battery unit is a unit that has eight MR-BAT batteries inserted in an MR-BTCASE battery case.

(2) I/O device

(a) Input device

Device Symbol

Forced stop EM1 CN3-10 Turn EM1 off (open between commons) to bring the motor to an forced stop

DI1-A CN3-7 DI-1

DI2-A CN3-8 DI-1

DI3-A CN3-9 DI-1

DI1-B CN3-20 DI-1

DI2-B CN3-21 DI-1

DI3-B CN3-22

Connector

pin No.

Used for connection with the controller or preceding-axis servo amplifier.

Used for connection with the next-axis servo amplifier or for connection of the cap.

When using as absolute position detection system, connect to battery unit. Before connecting a battery unit, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Replace the battery unit with main circuit power OFF and with control circuit power ON. Replacing the battery with the control circuit power OFF results in loosing absolute position data.

Function/Application

state, in which the base circuit is shut off and the dynamic brake is operated. Turn EM1 on (short between commons) in the forced stop state to reset that state. When parameter No.PA.04 is set to " ON) can be set inside. Devices can be assigned for DI1-A DI2-A DI3-A DI1-B DI2-B DI3-B with controller setting. For devices that can be assigned, refer to the controller instruction manual. The following devices can be assigned for Q173DCPU QD74MH DI1-A: A-axis upper stroke limit (FLS) DI2-A: A-axis lower stroke limit (RLS) DI3-A: A-axis proximity dog (DOG) DI1-B: B-axis upper stroke limit (FLS) DI2-B: B-axis lower stroke limit (RLS) DI3-B: B-axis proximity dog (DOG)

Q172DCPU Q173HCPU Q172HCPU Q170MCPU

QD75MH LD77MH .

1 ", automatically ON (always

division

DI-1

I/O

3 - 13

3. SIGNALS AND WIRING

(b) Output device

Device Symbol

A-axis malfunction ALM-A CN3-11

B-axis malfunction ALM-B CN3-24

A-axis electromagnetic brake interlock B-axis electromagnetic brake interlock A-axis in-position INP-A DO-1

B-axis in-position INP-B

A-axis ready RD-A DO-1

B-axis ready RD-B

A-axis speed reached

B-axis speed reached

A-axis limiting speed

B-axis limiting speed

A-axis limiting torque

B-axis limiting torque

MBR-A CN3-12 When using this signal, set operation delay time of the electromagnetic brake

MBR-B CN3-25

SA-A DO-1

SA-B

VLC-A DO-1

VLC-B

TLC-A DO-1

TLC-B

Connector

pin No.

ALM-A/ALM-B turns off when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm occurring, ALM-A/ALM-B turns on within about 1.5s after power-on.

in parameter No.PC02. In the servo-off or alarm status, MBR-A/MBR-B turns off.

When using the signal, make it usable by the setting of parameter No.PD07 or PD09. INP-A/INP-B turns on when the number of droop pulses is in the preset inposition range. The in-position range can be changed using parameter No.PA10. When the in-position range is increased, INP-A/INP-B may be on conductive status during low-speed rotation. INP turns on when servo on turns on. This signal cannot be used in the speed loop mode and the torque loop mode.

When using the signal, make it usable by the setting of parameter No.PD07 or PD09. RD-A/RD-B turns on when the servo is switched on and the servo amplifier is ready to operate. When using this signal, make it usable by the setting of parameter No.PD07 or PD09. When the servo is off, SA will be turned OFF. When servo motor rotation speed becomes approximately setting speed, SA-A/SA-B will be turned ON. When the preset speed is 20r/min or less, SA-A/SA-B always turns on. This signal cannot be used in the position loop mode and the torque loop mode.

When using this signal, make it usable by the setting of parameter No.PD07 or PD09. VLC-A/VLC-B turns on when the servo motor speed reaches the speed set with the controller in the torque loop mode. VLC-A/VLC-B turns off when the servo turns off. This signal cannot be used in position loop mode and the torque loop mode. When using this signal, make it usable by the setting of parameter No.PD07 or PD09. When torque is produced level of torque set with controller, TLC-A/TLC-B will be turned ON. When the servo is off, TLC-A/TLC-B will be turned OFF. This signal cannot be used in the torque loop mode.

Function/Application

I/O

division

DO-1

3 - 14

3. SIGNALS AND WIRING

Device Symbol

A-axis zero speed ZSP-A DO-1

Connector

pin No.

When using this signal, make it usable by the setting of parameter No.PD07 or PD09. ZSP-A/ZSP-B turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No.PC07. Example Zero speed is 50r/min

Function/Application

I/O

division

B-axis zero speed ZSP-B

A-axis warning WNG-A

B-axis warning WNG-B

A-axis battery warning

B-axis battery warning

A-axis variable gain selection B-axis variable gain selection A-axis absolute position erasing

B-axis absolute position erasing

BWNG-A DO-1

BWNG-B

CDPS-A DO-1

CDPS-B

ABSV-A DO-1

ABSV-B

Forward rotation direction

Servo motor speed

Reverse rotation direction

Zero speed (ZSP-A/ ZSP-B)

ZSP-A/ZSP-B turns on 1) when the servo motor is decelerated to 50r/min, and ZSP-A/ZSP-B turns off 2) when the servo motor is accelerated to 70r/min again. ZSP-A/ZSP-B turns on 3) when the servo motor is decelerated again to 50r/min, and turns off The range from the point when the servo motor speed has reached ON level, and ZSP-A/ZSP-B turns on, to the point when it is accelerated again and has reached OFF level is called hysteresis width. Hysteresis width is 20r/min for the MR-J3W-B servo amplifier.

When using this signal, make it usable by the setting of parameter No.PD07 or PD09. When warning has occurred, WNG-A/WNG-B turns on. When there is no warning, WNG-A/WNG-B turns off within about 1.5s after power-on. When using this signal, make it usable by the setting of parameter No.PD07 or PD09. BWNG-A/BWNG-B turns on when battery cable disconnection warning (92.1) or battery warning (9F.1) has occurred. When there is no battery warning, BWNG-A/BWNG-B turns off within about 1.5s after power-on. When using this signal, make it usable by the setting of parameter No.PD07 or PD09. CDPS-A/CDPS-B is on during variable gain.

When using this signal, make it usable by the setting of parameter No.PD07 or PD09. ABSV-A/ABSV-B turns on when the absolute position erased. This signal cannot be used in the speed loop mode and the torque loop mode.

OFF level 70r/min

ON level 50r/min

0r/min

ON level 50r/min

OFF level 70r/min

ON OFF

when the servo motor speed has reached -70r/min.

20r/min (Hysteresis width)

Parameter No.PC07

20r/min (Hysteresis width)

DO-1

3 - 15

3. SIGNALS AND WIRING

Signal name Symbol

A-axis encoder Aphase pulse (Differential line driver) A-axis encoder Bphase pulse (Differential line driver) B-axis encoder Aphase pulse (Differential line driver) B-axis encoder Bphase pulse (Differential line driver) Analog monitor 1 MO1 CN3-2 Used to output the data set in parameter No.PC09 to across MO1-LG in terms of

Analog monitor 2 MO2 CN3-15 Used to output the data set in parameter No.PC10 to across MO2-LG in terms of

LA-A

LAR-A

LB-A

LBR-A

LA-B

LAR-B

LB-B

LBR-B

Connector

pin No.

CN3-6

CN3-16

CN3-4

CN3-17

CN3-5

CN3-18

CN3-6

CN3-19

Outputs pulses per servo motor revolution set in parameter No.PA15 in the differential line driver type. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of The relationships between rotation direction and phase difference of the A and B-phase pulses can be changed using parameter No.PC03. Output pulse specification and dividing ratio setting can be set. (Refer to section 5.1.10.)

voltage. Resolution 10 bits

(d) Power supply

Signal name Symbol

Digital I/F power supply input

Digital I/F common

Monitor common LG CN3-1 Common terminal of MO1 MO2

Shield SD Plate Connect the external conductor of the shield cable.

DICOM CN3-23 Used to input 24VDC (24VDC 10 250mA) for I/O interface of the servo amplifier. The

DOCOM CN3-26 Common terminal for input device such as EM1 of the servo amplifier. Pins are

Connector

pin No.

power supply capacity changes depending on the number of I/O interface points to be used. For the sink interface, connect For the source interface, connect

connected internally. Separated from LG. For the sink interface, connect For the source interface, connect

Pins are connected internally.

Function/Application

/2.

Function/Application

of 24VDC external power supply.

3 - 16

3. SIGNALS AND WIRING

3.6 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the operation signal

is not being input, ensure safety, and reset the alarm before restarting operation.

CAUTION

When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To deactivate the alarm, power the control circuit off, then on or give the error reset or CPU reset command from the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.

3.6.1 Timing chart

(1) Occurrence of all axis stop alarm

A-axis

B-axis

Main circuit Control circuit

Base circuit

Dynamic brake

Servo-on command (from controller)

Alarm

Reset command

Base circuit

Dynamic brake

Servo-on command (from controller)

Alarm

Reset command

power

Shut off the main circuit power supply when alarms are occurring in both of the A-

axis and the B-axis. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

OFF

Base circuit ON

Brake operation Brake operation

Servo-on command

Occurrence of all a xis stop alarm Oc currence of all axis stop alar m

Base circuit ON Base circuit ON

Brake operation Brake operation

Servo-on command

No alarm No alarm No alarm

1.5s

Occurrence of all a xis stop alarm Oc currence of all axis stop alar m

Fault cause removed

Occurrence of all

axis stop alarm

Power ON Power ON

Base circuit ON Base circuit ON Base circuit ON

Brake operation

Servo-on command

No alarmNo alarm No alarm No alarm

Reset operation

Servo-on command Servo-on command

No alarm

50ms or more

Alarm reset Alarm reset

Fault cause removed

Occurrence of all

axis stop alarm

Servo-on command

Occurrence of all axis stop alarm

Base circuit ON Base circuit ON

Brake operation

Occurrence of all axis stop alarm

Reset operation

50ms or more

60ms or more

Power onPower shutoffPower on

3 - 17

3. SIGNALS AND WIRING

(2) Occurrence of each axis stop alarm

A-axis

B-axis

Main circuit Control circuit

Base circuit

Dynamic brake

Servo-on command (from controller)

Alarm

Reset command

Base circuit

Dynamic brake

Servo-on command (from controller)

Alarm

Reset command

power

OFF

Base circuit ON

Servo-on command

1.5s

A-axis stop alarm Alarm reset

Power ON Power ON

Base circuit ON Base circuit ON

Brake operation

Servo-on command

Each axis stop alarm

Reset operation

Base circuit ON

Servo-on command Servo-on command

No alarm No alarm No alarm

Fault cause removed

50ms or more

Alarm reset

B-axis stop alarm

No alarmNo alarm No alarmNo alarm

Base circuit ON

Brake operation

Each axi s stop alarm

Reset operation

Fault cause removed

50ms or more

Brake operation

Occurrence of all axis stop alarm

Brake operation

Occurrence of all axis stop alarm

60ms or more

Power onPower shutoffPower on

Base circuit ON

3.6.2 Supplementary information

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (32. overload 1 (50.

) or overload 2 (51. ) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation.

(2) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative (30. after its occurrence, the regenerative resistor will generate heat, resulting in an accident.

(3) Instantaneous power failure

Undervoltage (10.

) occurs when the input power is in either of the following statuses. Power failure of the control circuit power supply has continued for 60ms or longer, then the power restores. Bus voltage drops to 200VDC or less during the servo-on status.

) alarm

3 - 18

3. SIGNALS AND WIRING

3.7 Interfaces

3.7.1 Internal connection diagram

24VDC

(Note 2)

(Note 1)

USB

CN3

DICOM

DOCOM

EM1

DI1-A

DI2-A

DI3-A

DI1-B

DI2-B

DI3-B

CN5

VBUS

D12 D

GND

3 5

Approx

5.6k

Approx

5.6k

Servo amplifier

CN3

6 19 14 LG

CN3

ALM-A

MBR-A

ALM-B

MBR-B

LA-A

LAR-A

LB-A

LBR-A

LA-B

LAR-B

LB-B

LBR-B

MO12

(Note 2)

Differential line driver output (35mA or less)

Analog monitor

Note 1. Signal can be assigned for these pins with the controller setting.

For contents of signals, refer to the instruction manual of the controller.

2. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.

CN2A

CNP3A

CN2B

CNP3B

MO2

A-axis servo motor

MDR

MRR

B-axis servo motor

MDR

MRR

10VDC

Encoder

3 - 19

3. SIGNALS AND WIRING

3.7.2 Detailed description of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section

3.5. Refer to this section and make connection with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor. Refer to section 3.7.3 for the source input.

For transistor

Approx. 5mA

1.0V

CES

100 A

CEO

Switch

24VDC 10 250mA

Servo amplifier

EM1,

Approx. 5.6k

etc.

DICOM

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40mA or less, maximum current: 50mA or less, inrush current: 100mA or less) A maximum of 2.6V voltage drop occurs in the servo amplifier. Refer to section 3.7.3 for the source output.

Servo amplifier

If polarity of diode is reversed, servo

ALM, etc.

DOCOM

Lord

(Note) 24VDC 10 250mA

amplifier will fail.

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high

voltage (maximum of 26.4V) from external source.

3 - 20

3. SIGNALS AND WIRING

(3) Encoder output pulse DO-2 (differential line driver type)

(a) Interface

Max. output current: 35mA

Servo amplifier

LA-A/LA-B (LB-A/LB-B)

LAR-A/LAR-B (LBR-A/LBR-B)

(b) Output pulse

(4) Analog output

Am26LS32 or equivalent

150

Servo motor CCW rotation

LA-A/LA-B

LAR-A/LAR-B

LB-A/LB-B

LBR-A/LBR-B

Servo amplifier

LA-A/LA-B (LB-A/LB-B)

LAR-A/LAR-B (LBR-A/LBR-B)

100

High-speed photocoupler

Time cycle (T) is determined by the settings of parameter No.PA15, PA16 and PC03.

MO1

(MO2)

Output voltage: 10V (Note)

Max. Output current: 1mA Resolution: 10 bits or equivalent

Note. Output voltage range varies depending on the monitored signal. (Refer to section 5.3.3

or 13.8.4(3).) When connecting an analog output to an external device, use one whose withstand voltage is 15VDC or more.

3 - 21

3. SIGNALS AND WIRING

3.7.3 Source I/O interfaces

In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces.

(1) Digital input interface DI-1

Servo amplifier

EM1, etc.

Approx. 5.6k

Switch

DICOM

Approx. 5mA

1.0V

CES

100 A

CEO

(2) Digital output interface DO-1

A maximum of 2.6V voltage drop occurs in the servo amplifier.

24VDC 10 250mA

Servo amplifier

If polarity of diode is reversed, servo

ALM, etc.

DOCOM

(Note) 24VDC 10 250mA

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high

voltage (up to 26.4V) from external source.

Lord

amplifier will fail.

3 - 22

3. SIGNALS AND WIRING

3.8 Treatment of cable shield external conductor

In the case of the CN3 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath

Strip the sheath.

(1) For CN3 connector (3M connector)

Ground plate

Screw

External conductor

SheathCore

Pull back the external conductor to cover the sheath

Screw

Cable

(2) For CN2A and CN2B connector (3M or Molex connector)

Ground plate

Cable

Screw

3 - 23

3. SIGNALS AND WIRING

3.9 SSCNET

(1) SSCNET

For CN1A connector, connect SSCNET For CN1B connector, connect SSCNET For CN1B connector of the final axis, put a cap came with servo amplifier.

cable connection

POINT

Do not see directly the light generated from CN1A CN1B connector of servo

amplifier or the end of SSCNET When the light gets into eye, may feel something is wrong for eye.

cable connection

cable.

cable connected to controller in host side or servo amplifier. cable connected to servo amplifier in lower side.

Servo amplifier Servo amplifier Final axis servo amplifier

SSCNET cable

Controller

(2) How to connect/disconnect cable.

POINT

CN1A CN1B connector is put a cap to protect light device inside connector from

dust. For this reason, do not remove a cap until just before mounting SSCNET Then, when removing SSCNET

Keep the cap for CN1A CN1B connector and the tube for protecting optical cord

end of SSCNET prevent them from becoming dirty.

When asking repair of servo amplifier for some troubles, make sure to put a cap on

CN1A

CN1B connector. When the connector is not put a cap, the light device may be damaged at the transit. In this case, exchange and repair of light device is required.

(a) Mounting

1) For SSCNET connector. Remove this tube.

2) Remove the CN1A

cable in the shipping status, the tube for protect optical cord end is put on the end of

CN1B connector cap of servo amplifier.

SSCNET cable

CN1A

CN1B

SSCNET cable

CN1A

CN1B

cable, make sure to put a cap.

cable in a plastic bag with a zipper of SSCNET cable to

CN1A

Cap

CN1B

cable.

3 - 24

3. SIGNALS AND WIRING

3) With holding a tab of SSCNET of servo amplifier until you hear the click.

If the end face of optical cord tip is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol.

cable connector, make sure to insert it into CN1A CN1B connector

Click

(b) Removal

Tab

With holding a tab of SSCNET When pulling out the SSCNET

cable connector, pull out the connector.

cable from servo amplifier, be sure to put the cap on the connector parts of servo amplifier to prevent it from becoming dirty. For SSCNET

cable, attach the tube for protection optical cord's end face on the end of connector.

3 - 25

3. SIGNALS AND WIRING

3.10 Connection of servo amplifier and servo motor

Connect the servo amplifier power output (U, V, and W) to the servo motor power

input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

CAUTION

Servo amplifier

Servo motor

Servo motorServo amplifier

POINT

To use a rotary servo motor, turn SW3 off (factory setting).

3.10.1 Connection instructions

WARNING

To avoid an electric shock, insulate the connections of the power supply terminals.

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and

servo motor. Not doing so may cause unexpected operation.

Do not connect AC power supply directly to the servo motor. Otherwise, a fault may

CAUTION

occur.

Do not use the 24VDC interface power supply for the electromagnetic brake. Always

use the power supply designed exclusively for the electromagnetic brake. Otherwise, a fault may occur.

POINT Refer to section 11.1 for the selection of the encoder cable. Refer to section 11.13 for the selection of a surge absorber for the electromagnetic

brake.

This section indicates the connection of the servo motor power (U, V, W). Use of the optional cable and connector set is recommended for connection between the servo amplifier and servo motor. When the options are not available, use the recommended products. Refer to section 11.1 for details of the options. For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal (

) of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel.

Control box

Servo amplifier

PE terminal

Servo motor

3 - 26

3. SIGNALS AND WIRING

3.10.2 Power supply cable wiring diagrams

(1) HF-MP series

HF-KP series HF-KP series servo motor

(a) When cable length is 10m or less

(b) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below. In this case, the motor power supply cable should be within 2m long. Refer to section 11.5 for the wire used for the extension cable.

CNP3

U V

CNP3

U V

10m or less

MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H

AWG 19 (red) AWG 19 (white) AWG 19 (black) AWG 19 (green/yellow)

50m or less

Extension cable

Servo motorServo amplifier

U V

2m or less

MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L

AWG 19 (red) AWG 19 (white) AWG 19 (black) AWG 19 (green/yellow)

Servo motorServo amplifier

(Note) Relay connector for

a) extension cable

Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

(Note) b)

Relay connector for motor power supply cable

Relay connector Description IP rating

a) Relay connector for

extension cable

b) Relay connector for

motor power supply cable

Connector: RM15WTPZ-4P(71) Cord clamp: JR13WCC-5(72) (Hirose Electric)

Connector: RM15WTJZ-4S(71) Cord clamp: JR13WCC-8(72) (Hirose Electric)

Numeral changes depending on the cable OD.

IP65

3 - 27

3. SIGNALS AND WIRING

(2) HF-SP series

HC-UP series HC-LP series servo motor

POINT Insert a contact in the direction shown in the figure. If inserted in the wrong direction, the contact is damaged and falls off.

(a) Wiring diagrams

Refer to section 11.5 for the cables used for wiring.

1) When the power supply connector and the electromagnetic brake connector are separately supplied.

Soldered part or crimping part facing up

Servo amplifier

CNP3A

U V

DOCOM

DICOM

ALM-A

Model: CM10-SP10S-VP-M CM10-AP10S-VP-M

(Note 2)

24VDC

RA1

24VDC power

supply for

electromagnetic

brake

Soldered part or crimping part facing down

50m or less

(Note 3)

Model: CM10-SP2S-VP CM10-AP2S-VP-

ALM-A

RA1

MBR-A

RA2

Pin No.1Pin No.1

A-axis servo motor

U V

B1 B2

(Note 1)

MBR-A

ALM-B

MBR-B

RA2

RA3

RA4

ALM-B

RA3

MBR-B

RA4

B-axis servo motor

B1 B2

(Note 1)

CNP3B

U V

Note 1. There is no polarity in electromagnetic brake terminals B1 and B2.

2. Do not use the 24VDC interface power supply for the electromagnetic brake.

3. Shut off the circuit by interlocking with the emergency stop switch.

3 - 28

3. SIGNALS AND WIRING

2) When the power supply connector and the electromagnetic brake connector are shared.

Servo amplifier

CNP3A

U V

DOCOM

DICOM

ALM-A

MBR-A

ALM-B

MBR-B

CNP3B

U V

24VDC

(Note 2)

RA1

RA2

RA3

RA4

50m or less

24VDC power

supply for

electromagnetic

brake

(Note 3)

ALM-A

RA1

ALM-B

RA3

MBR-A

RA2

MBR-B

RA4

A-axis servo motor

U V

B1 B2

B-axis servo motor

B1 B2

U V

(Note 1)

Note 1. There is no polarity in electromagnetic brake terminals B1 and B2.

2. Do not use the 24VDC interface power supply for the electromagnetic brake.

3. Shut off the circuit by interlocking with the emergency stop switch.

(b) Connector and signal allotment

The connector fitting the servo motor is prepared as optional equipment. Refer to section 11.1. For types other than those prepared as optional equipment, refer to chapter 3 in Servo Motor Instruction Manual, (Vol. 2) to select.

Servo motor

HF-SP51 HF-SP81 HF-SP52

HF-SP102

HC-UP72 HC-LP52

HC-LP102

HF-JP53 HF-JP73

HF-JP103

Servo motor side connectors

Encoder Power supply

MS3102A18-10P

CM10-R10P

(DDK)

CE05-2A22-23PD-B

MS3102A18-10P

Electromagnetic

brake

CM10-R2P

(DDK)

Shared with the

power supply

CM10-R2P

(DDK)

3 - 29

3. SIGNALS AND WIRING

Encoder connector signal allotment

CM10-R10P

Terminal

View a

No.

1 MR A U A U 2 MRR B V B V 3 C W C W 4 BAT 5 LG 6 E

8 P5 B1 9

10 SHD B2

Signal

Brake connector signal allotment

CM10-R2P

View c

Terminal

Note. For the motor

No.

with an electromagneti c brake, supply electromagneti c brake power (24VDC). There is no polarity.

Signal

(Note)

Power supply connector signal allotment

MS3102A18-10P

Terminal

No.

View b

Signal

(earth)

Power supply connector signal allotment

CE05-2A22-23PD-B

View b

Terminal

No.

Signal

(earth)

Note. For the motor

with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity.

(Note)

3 - 30

3. SIGNALS AND WIRING

3.11 Servo motor with an electromagnetic brake

3.11.1 Safety precautions

Configure a electromagnetic brake circuit so that it is activated also by an external

emergency stop switch.

CAUTION

Contacts must be opened when a malfunction (ALM-A/ALM-B) and when an electromagnetic brake interlock (MBR-A/ MBR-B).

Servo motor

Electromagnetic brake

Contacts must be opened with the emergency stop switch.

The electromagnetic brake is provided for holding purpose and must not be used for

ordinary braking.

Before performing the operation, be sure to confirm that the electromagnetic brake

operates properly.

Do not use the 24VDC interface power supply for the electromagnetic brake. Always

use the power supply designed exclusively for the electromagnetic brake. Otherwise, a fault may occur.

POINT

Refer to the Servo Motor Instruction Manual (Vol.2) for specifications such as the

power supply capacity and operation delay time of the electromagnetic brake.

Refer to section 11.13 for the selection of a surge absorber for the electromagnetic

brake.

Note the following when the servo motor with an electromagnetic brake is used.

1) The brake will operate when the power (24VDC) switches off.

2) Switch off the servo-on command after the servo motor has stopped.

24VDC

3 - 31

3. SIGNALS AND WIRING

(1) Connection diagram

24VDC

EM1

DICOM

DOCOM

DICOM

ALM-A

MBR-A

ALM-B

MBR-B

A-axis servo motorServo amplifier

(Note 2)

(Note 1)

24VDC power supply for

RA1

RA2

RA3

RA4

electromagnetic brake

RA5

ALM-A

RA1

ALM-B

RA3

MBR-A

RA2

MBR-B

RA4

B-axis servo motor

Note 1. Do not use the 24VDC interface power supply for the electromagnetic brake.

2. Shut off the circuit by interlocking with the emergency stop switch.

(2) Setting

In parameter No.PC02 (electromagnetic brake sequence output), set the time delay (Tb) from electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in section

3.11.2.

3 - 32

3. SIGNALS AND WIRING

3.11.2 Timing charts

(1) Servo-on command (from controller) ON/OFF

Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR-A/MBR-B)

Servo-on command (from controller)

Ready-on command (from controller)

Operation command (from controller)

Electromagnetic brake

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual (Vol.2).

3. Give the operation command from the controller after the electromagnetic brake is released.

0 r/min

OFF

(Note 1) ON

OFF

0 r/min

Release

Activate

(95ms)

(Note 3)

Release delay time and external relay (Note 2)

Coasting

Electromagnetic brake operation delay time

(2) Forced stop command (from controller) or forced stop (EM1) ON/OFF

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR-A/MBR-B)

Forced stop command (from controller) or Forced stop (EM1)

(Note)

Invalid

Valid

(10ms)

OFF

(ON)

(OFF)

Electromagnetic brake

Electromagnetic brake release

(210ms)

Electromagnetic brake operation delay time

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

3 - 33

3. SIGNALS AND WIRING

(3) Alarm occurrence

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR-A/MBR-B)

Alarm

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

(4) Both main and control circuit power supplies off

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR-A/MBR-B)

Alarm

(Note 2)

(Note)

Yes

OFF

(ON)

(OFF)

OFF

(ON)

(OFF)

(10ms)

(Note 1) 15 to 100ms

10ms

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake operation delay time

Dynamic brake

(10ms)

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake operation delay time (Note 2)

Main circuit Control circuit

power

OFF

Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated.

3 - 34

3. SIGNALS AND WIRING

(5) Only main circuit power supply off (control circuit power supply remains on)

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR-A/MBR-B)

larm

(Note 2)

Yes

OFF

(ON)

(OFF)

(Note 1) 15ms or more

(10ms)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake operation delay time

Main circuit Control circuit

Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated.

(6) Ready off command from the controller

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR)

Ready-on command (For controller)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

power

OFF: Electromagnetic brake is activated.

(Note)

OFF

Dynamic brake

(10ms)

OFF

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake operation delay time

3 - 35

3. SIGNALS AND WIRING

3.11.3 Wiring diagrams (HF-MP series

POINT

For HF-SP/HC-UP/HC-LP/HF-JP series servo motors, refer to section 3.10.2 (2).

(1) When cable length is 10m or less

(Note 4)

24VDC power

supply for

electromagnetic

brake

HF-KP series servo motor)

10m or less

A-axis electromagnetic

brake interlock

(Note 3)

A-axis malfunction

(ALM-A)

B-axis malfunction

(ALM-B)

(MBR-A)

B-axis electromagnetic

brake interlock

(MBR-B)

(Note 1)

MR-BKS1CBL M-A1-L MR-BKS1CBL M-A2-L MR-BKS1CBL M-A1-H MR-BKS1CBL M-A2-H

AWG20

MR-BKS1CBL M-A1-L MR-BKS1CBL M-A2-L MR-BKS1CBL M-A1-H MR-BKS1CBL M-A2-H

AWG20

Servo motor

(Note 2)

Servo motor

(Note 2)

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in electromagnetic brake terminals (B1 and B2).

3. Shut off the circuit by interlocking with the emergency stop switch.

4. Do not use the 24VDC interface power supply for the electromagnetic brake.

When fabricating the motor brake cable MR-BKS1CBL-

M-H, refer to section 11.1.4.

3 - 36

3. SIGNALS AND WIRING

(2) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In this case, the motor brake cable should be within 2m long. Refer to section 11.5 for the wire used for the extension cable.

2m or less

MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H

MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L

Servo motor

(Note 4)

AWG20

(Note 5)

24VDC power

supply for

electromagnetic

brake

(Note 3)

50m or less

A-axis electromagnetic

brake interlock

A-axis malfunction

(ALM-A)

(MBR-A)

(Note 1)

(Note 2) b) Relay connector for motor brake cable

MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H

MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L

AWG20

(Note 2) b) Relay connector for motor brake cable

Servo motor

(Note 4)

B-axis electromagnetic

brake interlock

(MBR-B)

B-axis malfunction

(ALM-B)

(Note 2)

Relay connector for

extension cable

(Note 1)

(Note 2) a)

Relay connector for extension cable

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Relay connector Description IP rating

a) Relay connector for

extension cable

b) Relay connector for

motor brake cable

CM10-CR2P(DDK)

CMV1-SP2S- (DDK)

Wire size: S, M, L

Wire size: S, M1, M2, L

IP65

3. Shut off the circuit by interlocking with the emergency stop switch.

4. There is no polarity in electromagnetic brake terminals (B1 and B2).

5. Do not use the 24VDC interface power supply for the electromagnetic brake.

3 - 37

3. SIGNALS AND WIRING

3.12 Grounding

Ground the servo amplifier and servo motor securely.

WARNING

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).

(Note 1) Power supply

To prevent an electric shock, always connect the protective earth (PE) terminal

(terminal marked control box.

Line filter

) of the servo amplifier with the protective earth (PE) of the

Control box

Servo amplifier

CNP1

MCMCCB

CNP2

L11

CNP3A

CN2A

(Note 2)

A-axis servo motor

U V

Encoder

B-axis servo motor

controller

Servo system

CNP3B

Protective earth (PE)

CN2B

Encoder

(Note 2)

Outer box

Note 1. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the

power supply specification.

2. Ensure to connect it to control panel.

of a CN3A/CN3B connector. Do not connect it directly to the protective earth of the

3 - 38

3. SIGNALS AND WIRING

3.13 Control axis selection

POINT

The control axis number set to rotary axis setting switch (SW1) should be the same

as the one set to the servo system controller.

For changing the setting of the rotary switch, use a flat-blade screwdriver with the

blade edge width of 2.1 to 2.3 [mm] and the blade edge thickness of 0.6 to 0.7 [mm].

When the test operation mode is selected by using the test operation select switch

(SW2-1), the SSCNET operation mode and the following servo amplifiers is blocked.

Use the rotary axis setting switch (SW1) to set the control axis number for the servo. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the SSCNET

communication for the servo amplifier in the test

cable connection sequence.

Rotary axis setting switch(SW1)

(Note) SW2

Test operation select switch (SW2-1) Set the test operation select switch to the "Up" position, when performing the test operation mode by using MR Configurator.

Note. This table indicates the status when the switch is set to "Down".

(Default)

For manufacturer setting (Be sure to set to the "Down" position. Setting the switch to the "Up" position causes the switch setting error (11.2).)

Down

Manufacturer setting switch

Down

(Be sure to set to the

"Down" position.)

Note 1. Setting the switch to the "F" position causes the switch setting error (11.1).

2. An axis number is assigned even for the axis that is set as motor-less operation. Set SW1 so as to avoid overlapping the axis numbers.

Rotary axis setting switch (SW1)

0 Axis No.1 Axis No.2 1 Axis No.2 Axis No.3 2 Axis No.3 Axis No.4 3 Axis No.4 Axis No.5 4 Axis No.5 Axis No.6 5 Axis No.6 Axis No.7 6 Axis No.7 Axis No.8 7 Axis No.8 Axis No.9 8 Axis No.9 Axis No.10 9 Axis No.10 Axis No.11 A Axis No.11 Axis No.12 B Axis No.12 Axis No.13 C Axis No.13 Axis No.14 D Axis No.14 Axis No.15 E Axis No.15 Axis No.16

F (Note 1) Cannot be set Cannot be set

(Note 2)

A-axis

(Note 2)

B-axis

3 - 39

3. SIGNALS AND WIRING

3.14 Servo motor selection switch (SW3)

POINT

To prevent an electric shock, wait at least 15 minutes after turning off the power

and confirm that the charge lamp is off before changing the servo motor selection switch (SW3) setting. amplifier whether the charge lamp is off or not.

One servo amplifier can use rotary servo motors, linear servo motors and direct

drive motor in combination.

If the connected servo motor does not match the SW3 setting, the switch setting

error (11.3) occurs.

MR-J3W-0303BN6 does not have SW3.

Select the servo motor type by using the servo motor selection switch (SW3) located on the bottom of the servo amplifier. Make sure to confirm the power-off before changing the SW3 setting.

A servo motor can be selected for each of the A-axis and the B-axis.

SW3

Front side

In addition, always confirm from the front of the servo

SW3 setting status Servo motor type

A-axis

B-axis

OFF

(factory setting)

Rotary servo motor

Linear servo motor

Direct drive motor

3 - 40

4. STARTUP

WARNING

Do not operate the switches with wet hands. You may get an electric shock.

Before starting operation, check the parameters. Some machines may perform

unexpected operation.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands

and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor,

CAUTION

servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can

cause injury.

POINT

To use a rotary servo motor, turn SW3 off (factory setting). MR-J3W-0303BN6

does not have SW3.

SW3

Front side

A-axis

B-axis

When using only one of A-axis or B-axis, set " 1" in the parameter No.PC05

of the axis, which not connected to the servomotor, to select the motor-less operation.

4 - 1

4. STARTUP

4.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

4.1.1 Startup procedure

Setting status check of the servo

motor selection switch (SW3)

Wiring check

Surrounding environment check

Axis No. settings

Parameter setting

Test operation of servo motor

alone in test operation mode

Test operation of servo motor

alone by commands

Test operation with servo motor

and machine connected

Gain adjustment

Actual operation

Stop

Check that the setting status matches the servo motor type to be used.

(Refer

to section 3.14.)

Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (section 4.5.1), etc. (Refer to section 4.1.2.)

Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 4.1.3.)

Confirm that the axis No. settings for rotary axis setting switch (SW1) and servo system controller are consistent. (Refer to section 3.13.)

Set the parameters as necessary, such as the used control mode and regenerative option selection. (Refer to chapter 5.)

For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to section 4.5.)

For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly.

Connect the servo motor with the machine, give operation commands from the host command device, and check machine motions.

Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Stop giving commands and stop operation.

4 - 2

4. STARTUP

4.1.2 Wiring check

(1) Power supply system wiring

Before switching on the main circuit and control circuit power supplies, check the following items.

(a) Power supply system wiring

The power supplied to the power input terminals (L the defined specifications. (Refer to section 1.3.)

(b) Connection of servo amplifier and servo motor

1) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.

2) The power supplied to the servo amplifier should not be connected to the servo motor power supply terminals (U, V, W). To do so will fail the connected servo amplifier and servo motor.

Servo amplifier Servo motor

, L2, L3, L11, L21) of the servo amplifier should satisfy

Servo amplifier Servo motor

3) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.

4) The built-in regenerative resistor is connected to the P

When regenerative option is used

The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used. (Refer to section 11.2.)

UVW

Servo amplifier Servo motor

terminal and the C terminal.

Servo amplifier

Built-in regenerative resistor

4 - 3

4. STARTUP

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.

Use DO forced output to forcibly turn on/off the pins of the CN3 connector. This function can be used to

4.1.3 Surrounding environment

(1) Cable routing

(2) Environment

4.2 Startup

perform a wiring check. In this case, switch on the control circuit power supply only.

(b) 24VDC or higher voltage is not applied to the pins of connectors CN3.

Servo amplifier

CN3

DOCOM

(a) The wiring cables are free from excessive force.

(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

POINT

The controller recognizes MR-J3W- B as two servo amplifiers. For this reason,

select "MR-J3-B" for both of the A-axis and the B-axis. The following tables shows the servo amplifier setting in the controller when using the MR-J3Wamplifier.

Motion controller (Q172HCPU, Q173HCPU, Q172DCPU, Q173DCPU, Q170MCPU) Positioning module (QD75MH, QD74MH

Compatible controller Servo amplifier selection

Select "MR-J3-B" in the system setting screen.

Select "MR-J3-B" in "Servo series" (Pr.100) of the

, LD77MH )

servo parameter.

B servo

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

4 - 4

4. STARTUP

(1) Power on

When the main and control circuit power supplies are switched on, "b01" (for the first axis) appears on the servo amplifier display. In the absolute position detection system, first power-on results in the absolute position lost (25.1) alarm and the servo system cannot be switched on. The alarm can be deactivated by then switching power off once and on again. Also in the absolute position detection system, if power is switched on at the servo motor speed of 2000r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

(2) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for the parameter definitions.

Parameter No. Name Setting Description

PA14 Rotation direction setting 0

PA08 Auto tuning mode 1 Used. PA09 Auto tuning response 12 Slow response (factory setting) is selected.

After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.

(3) Servo-on

Switch the servo-on in the following procedure.

1) Switch on main circuit/control circuit power supply.

2) The controller transmits the servo-on command.

When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

(4) Home position return

Always perform home position return before starting positioning operation.

(5) Stop

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. When the servo motor is with an electromagnetic brake, refer to section 3.11.

Operation/command Stopping condition

Servo off command The base circuit is shut off and the servo motor coasts.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The controller forced stop warning (E7.1) occurs. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The servo forced stop warning (E6.1) occurs.

Servo system controller

Servo amplifier

Ready off command

Forced stop command

Alarm occurrence

Forced stop (EM1) OFF

Increase in positioning address rotates the motor in the CCW direction.

4 - 5

4. STARTUP

4.3 Servo amplifier display

On the servo amplifier display (3-digit, 7-segment display), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.

4.3.1 Scrolling display

The statuses of the A-axis and the B-axis are displayed alternately. The statuses of the both axes can be checked.

(1) Normal display

When there is no alarm, the statuses of the A-axis and the B-axis are displayed alternately. the A-axis is set as the first axis, and the B-axis as the second axis.

After 2s

B-axis status displayA-axis status display

After 2s

In this example,

Status display

(1 digit)

"b" "C" "d"

Axis number

(2 digits)

: Indicates ready OFF/servo OFF status. : Indicates ready ON/servo OFF status. : Indicates ready ON/servo ON status.

(2) Alarm display

When there is an alarm, the alarm number (two digits) and the alarm detail (one digit) are displayed following the status display.

In this example, the encoder initial communication error 1 (16.1) is occurring in

the A-axis, and the overcurrent (32.2) is occurring in the B-axis.

After 2s

A-axis status display

Status display

(1 digit)

"F": Indicates that an alarm is occurring.

Axis number

(2 digits)

A-axis alarm number

display

After 2s

B-axis status display

After 2s

B-axis alarm number

Alarm number

(2 digits)

display

Alarm detail

(1 digit)

4 - 6

4. STARTUP

4.3.2 Status display of an axis

(1) Display sequence

(SSCNET communication beginning)

Servo amplifier power ON

Waiting for servo system controller power to switch ON (SSCNET communication)

Servo system controller power ON

Initial data communication with servo system controller (Initialization communication)

When alarm occurs, alarm code appears.

(Note)

Ready ON

(Note)

Servo ON

(Note)

Ordinary operation

Servo system controller power OFF

Servo system controller power ON

Ready OFF/servo OFF

Ready ON/servo OFF

Ready ON/servo ON

When alarm warning No. is displayed

Example: At occurrence of overload

Flicker display

After 2s

Flicker display

Example: At occurrence of overload

Flicker display

After 2s

Flicker display

Only alarm and warning No. are displayed, but no axis No. is displayed. During a non servo-off causing warning, the decimal point on the third digit LED shows the servo-on status.

Alarm reset or warning cleared

Note.

Axis 1 Axis 2 Axis 16

The segment of the last 2 digits shows the axis number. (Below example indicates Axis 1)

4 - 7

4. STARTUP

(2) Indication list

Indication Status Description

Power of the servo amplifier was switched on at the condition that the power of servo system controller is OFF. The axis No. set to the servo system controller does not match the axis No. set

A b

A C

A d

A E

A F

A H

A A

(Note 1)

(Note 2)

(Note 1)

Note 1. ## denotes any of numerals 00 to 16 and what it means is listed below.

b # #

d # #

C # #

(Note 3)

0 A.b 0 b.b

Initializing

.Ab

Initializing During initial setting for communication specifications

Initializing

Initializing During initial parameter setting communication with servo system controller

Initializing

Initializing During initial signal data communication with servo system controller

Initializing completion

Initializing standby

Ready OFF The ready off signal from the servo system controller was received.

Servo ON The ready off signal from the servo system controller was received.

Servo OFF The ready off signal from the servo system controller was received.

Warning The alarm No./warning No. that occurred is displayed. (Refer to section 8.1.)

Alarm

8 88

CPU Error CPU watchdog error has occurred.

(Note 3)

# #.b

Test operation mode

# #.d # #.C

2. ** indicates the warning/alarm No. "A" in the third digit indicates the A-axis, and the "B" indicates the B-axis.

3. Requires the MR Configurator.

with the rotary axis setting switch (SW1) of the servo amplifier. A servo amplifier fault, or communication error with the servo system controller or the prior servo amplifier axis occured. In this case, the indication changes as follows: "Ab "

"AC " "Ad " "Ab "

The servo system controller is faulty.

Initial setting for communication specifications completed, and then it synchronized with servo system controller.

During motor controller

During the completion process for initial data communication with servo system controller The power supply of servo system controller is turned off during the power supply of servo amplifier is on.

JOG operation, positioning operation, program operation, DO forced output.

Motor-less operation

# Description

0A/0B Set to the test operation mode.

1 First axis 2 Second axis 3 Third axis 4 Fourth axis 5 Fifth axis 6 Sixth axis 7 Seventh axis 8 Eighth axis

9 Ninth axis 10 Tenth axis 11 Eleventh axis 12 Twelfth axis 13 Thirteenth axis 14 Fourteenth axis 15 Fifteenth axis 16 Sixteenth axis

encoder information and telecommunication with servo system

4 - 8

4. STARTUP

4.4 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2 for the power on and off methods of the servo amplifier.

POINT

If necessary, verify controller program by using motor-less operation.

Refer to section 4.5.2 for the motor-less operation.

Test operation of servo motor

alone in JOG operation of test

operation mode

Test operation of servo motor

alone by commands

Test operation with servo motor

and machine connected

In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor rotates correctly. Refer to section 4.5 for the test operation mode.

In this step, confirm that the servo motor rotates correctly under the commands from the controller. Make sure that the servo motor rotates in the following procedure. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the servo motor does not operate in the intended direction, check the input signal.

In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the command device. Make sure that the servo motor rotates in the following procedure. Give a low speed command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. By using MR Configurator, check if the servo motor speed, the load ratio, and the other items in the status display are not incorrect. Then, check automatic operation with the program of the command device.

4 - 9

4. STARTUP

4.5 Test operation mode

The test operation mode is designed for servo operation confirmation and not for

CAUTION

By using a personal computer and the MR Configurator, you can execute jog operation, positioning operation, DO forced output program operation without connecting the servo system controller.

4.5.1 Test operation mode in MR Configurator

(1) Test operation mode

(a) Jog operation

Jog operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the jog operation screen of the MR Configurator.

1) Operation pattern

2) Operation method When the check box of "Rotation only while the button is being pushed" is checked.

When the check box of "Rotation only while the button is being pushed" is not checked.

machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone.

If an operation fault occurred, use the forced stop (EM1) to make a stop.

POINT

The content described in this section indicates the environment that servo amplifier

and personal computer are directly connected.

POINT

When using MR-J3W- B, both of the A-axis and the B-axis go into the test

operation mode, but only one of them can be operated.

When the test operation mode is selected by using the test operation select switch

(SW2-1), the SSCNET operation mode and the following servo amplifiers is blocked.

Speed [r/min] 200 0 to max. speed Acceleration/deceleration time constant [ms] 1000 0 to 50000

Forward rotation start Keep pressing the "Forward" button. Reverse rotation start Keep pressing the "Reverse" button. Stop Release "Forward" or "Reverse" button.

Forward rotation start Click the "Forward" button. Reverse rotation start Click the "Reverse" button. Stop Click the "Stop" button.

communication for the servo amplifier in the test

Item Factory setting Setting range

Operation Screen control

4 - 10

4. STARTUP

(b) Positioning operation

Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of the MR Configurator.

1) Operation pattern

Travel distance [pulse] 4000 0 to 99999999 Speed [r/min] 200 0 to max. speed Acceleration/deceleration time constant [ms] 1000 0 to 50000

Repeat operation

Dwell time [s] 2.0 0.5 to 50.0 Number of repeats [time] 1 1 to 9999

2) Operation method

Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the program operation screen of the MR Configurator. For full information, refer to the MR Configurator Installation Guide.

(d) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for output signal wiring check, etc. Exercise control on the DO forced output screen of the MR Configurator.

Item Factory setting Setting range

Fwd. rot. (CCW)

Rev. rot. (CW)

Operation Screen control Forward rotation start Click the "Forward" button. Reverse rotation start Click the "Reverse" button. Pause Click the "Pause" button.

Operation Screen control Start Click the "Start" button. Stop Click the "Reset" button.

Fwd. rot. (CCW)

Rev rot. (CW)

Fwd. rot. (CCW)

Rev rot. (CW)

Fwd. rot. (CCW)

Rev rot. (CW)

4 - 11

4. STARTUP

(2) Operation procedure

(a) Switch power off.

(b) Set SW2-1 to "UP".

SW1 TEST SW2

ON 4E

Set SW2-1 to "UP"

SW2

Changing SW2-1 to "UP" while power is on will not start the test operation mode.

When initialization is over, the display shows the following screen.

After 2s

Flicker

After 2s

Flicker

(d) Perform operation with the personal computer.

4.5.2 Motor-less operation in controller

POINT

Use motor-less operation which is available by making the servo system controller

parameter setting.

Motor-less operation is done while connected with the servo system controller.

(1) Motor-less operation

Without connecting the servo motor, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the forced stop reset. Use this operation with the servo amplifier connected to the servo system controller. For stopping the motor-less operation, set the selection of motor-less operation to [Invalid] in servo parameter setting of servo system controller. Motor-less operation will be invalid condition after switching on power supply next time.

(a) Load conditions

Load item Condition Load torque 0 Load inertia moment ratio Same as servo motor inertia moment

DOWN

4 - 12

4. STARTUP

(b) Alarms

The following alarms and warning do not occur. However, the other alarms and warnings occur as when the servo motor is connected.

Encoder initial communication error 1 (16. ) Encoder normal communication error 1 (20. ) Encoder normal communication error 2 (21. ) Absolute position erase (25. )

(2) Operating procedure

1) Switch off servo amplifier

2) Set parameter No.PC05 to "1", change test operation mode switch (SW2-1) to normal condition side "Down", and then turn on the power supply.

Battery cable disconnection warning (92.1) Battery warning (9F.1) Main circuit off warning (E9. )

SW1 TEST SW2

ON 4E

Set SW2-1 to "DOWN"

DOWN

3) Perform motor-less operation with the personal computer. The display shows the following screen.

SW2

Decimal point flickers.

4 - 13

4. STARTUP

MEMO

4 - 14

5. PARAMETERS

Never adjust or change the parameter values extremely as it will make operation

CAUTION

In this servo amplifier, the parameters are classified into the following groups on a function basis.

Parameter group Main description

Basic setting parameters (No.PA Gain/filter parameters (No.PB Extension setting parameters (No.PC I/O setting parameters (No.PD Extension control parameters (No.PE Option setting parameters (No.Po

Mainly setting the basic setting parameters (No.PA introduction.

5.1 Basic setting parameters (No.PA

)

instable.

When the fixed values are indicated for any digits of a parameter, never change the

values of the digits.

POINT

When the servo amplifier is connected with the servo system controller, the

parameters are set to the values of the servo system controller.

Setting may not be made to some parameters and ranges depending on the model

or software version of the servo system controller. For details, refer to the servo system controller user's manual.

Make basic setting with these parameters. Generally, the operation is possible only with these parameter settings. Use these parameters when making gain adjustment manually.

When changing settings such as analog monitor output signal or encoder electromagnetic brake sequence output, use these parameters. Use these parameters when changing the I/O signals of the servo amplifier.

Use these parameters when selecting a function in the fully closed loop system.

These parameters are dedicated to MR-J3W.

) allows the setting of the basic parameters at the time of

)

POINT

The parameter whose symbol preceded by * can be validated with the following

conditions. * : Turn off the power and then on again, or reset the controller after setting the

parameter.

**: Turn off the power and then on again after setting the parameter.

5 - 1

5. PARAMETERS

5.1.1 Parameter list

No. Symbol Name

PA01 **STY Control mode Each axis 0000h PA02 **REG Regenerative option Common 0000h PA03 *ABS Absolute position detection system Each axis 0000h PA04 *AOP1 Function selection A-1 Common 0000h PA05 This parameter is not used. Do not change the value. 0 PA06 1 PA07 PA08 ATU Auto tuning mode Each axis 0001h PA09 RSP Auto tuning response Each axis 12 PA10 INP In-position range Each axis 100 pulse PA11 This parameter is not used. Do not change the value. 1000.0 PA12 1000.0 PA13 PA14 *POL Rotation direction selection Each axis 0 PA15 *ENR Encoder output pulses Each axis 4000 pulse/rev PA16 *ENR2 Encoder output pulses 2 Each axis 0 PA17 This parameter is not used. Do not change the value. 0000h PA18 PA19 *BLK Parameter write inhibit Each axis 000Bh

Note 1. Each axis: Set a value for each of the A-axis and the B-axis.

2. Valid for the A-axis and the B-axis.

Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are set, the last set value becomes valid.

Setting

(Note 1)

Factory

setting

(Note 2)

0000h

Unit

5 - 2

5. PARAMETERS

5.1.2 Parameter write inhibit

Parameter

No. Symbol Name

PA19 *BLK Parameter write inhibit Each axis 000Bh

Setting

Factory

setting

Unit

Setting

range

Refer to the text.

POINT

Turn off the power and then on again, or reset the controller after setting the

parameter to validate the parameter value.

In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings. With the setting of parameter No.PA19, write can be disabled to prevent accidental changes. The following table indicates the parameters which are enabled for reference and write by the setting of parameter No.PA19. Operation can be performed for the parameters marked

Extension

setting

parameters

No.PC

I/O setting parameters No.PD

Parameter No.

PA19 setting

0000h

(factory setting)

000Ch

000Dh

000Eh

100Bh

100Ch

100Dh

100Eh

Note. Do not use this parameter when using a rotary servo motor.

Setting

operation

Reference

Write

Reference 000Bh

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write No.PA19 only

Reference

Write No.PA19 only

Reference

Write No.PA19 only

Reference

Write No.PA19 only

Basic setting

parameters

No.PA

Gain/filter parameters No.PB

Special setting

parameters No.PS

(Note)

Option setting

parameters

No.Po

5 - 3

5. PARAMETERS

5.1.3 Selection of control mode

Parameter

No. Symbol Name

PA01 **STY Control mode Each axis 0000h

Setting

Factory

setting

POINT

Turn off the power and then on again after setting the parameter to validate the

parameter value.

The direct drive motor can be used with the servo amplifier whose software version

is B3 or later.

Select the control mode. This parameter is set as "

0 " (rotary servo motor) in the initial setting.

Parameter No.PA01

Control mode selection 0: Rotary servo motor 4: Linear servo motor 6: Direct drive motor

5.1.4 Selection of regenerative option

Unit

Setting

range

Refer to the text.

Parameter

No. Symbol Name

PA02 **REG Regenerative option Common 0000h

Setting

Factory

setting

POINT

Turn off the power and then on again after setting the parameter to validate the

parameter value. Wrong setting may cause the regenerative option to burn. If the regenerative option selected is not for use with the servo amplifier, parameter

error (37.2) occurs. The MR-RB3B can be used with the servo amplifier whose software version is B3

or later. This parameter is not for MR-J3W-0303BN6. Do not change this value by any

means.

Set this parameter when using the regenerative option.

Parameter No.PA02

Selection of regenerative option 00: Regenerative option is not used (built-in regenerative resistor is used) 0D: MR-RB14 0E: MR-RB34 10: MR-RB3B

Unit

Setting

range

Refer to the text.

5 - 4

5. PARAMETERS

5.1.5 Using absolute position detection system

Parameter

No. Symbol Name

PA03 *ABS Absolute position detection system Each axis 0000h

Setting

Factory

setting

Unit

POINT

Turn off the power and then on again, or reset the controller after setting the

parameter to validate the parameter value. This parameter cannot be used in the speed control mode.

Set this parameter when using the absolute position detection system in the position control mode.

Parameter No.PA03

000

Selection of absolute position detection system (refer to chapter 12) 0: Used in incremental system 1: Used in absolute position detection system

5.1.6 Forced stop input selection

Parameter

No. Symbol Name

PA04 *AOP1 Function selection A-1 Common 0000h

Setting

POINT

Turn off the power and then on again, or reset the controller after setting the

parameter to validate the parameter value.

The servo forced stop function is avoidable.

Factory

setting

Unit

Setting

range

Refer to the text.

Setting

range

Refer to the text.

Parameter No.PA04

000

Selection of servo forced stop 0: Valid (Forced stop (EM1) is used.) 1: Invalid (Forced stop (EM1) is not used.)

When not using the forced stop (EM1) of servo amplifier, set the selection of servo forced stop to Invalid (

). At this time, the forced stop (EM1) automatically turns on inside the servo amplifier.

5 - 5

5. PARAMETERS

5.1.7 Auto tuning

Parameter

No. Symbol Name

PA08 ATU Auto tuning mode Each axis 0001h

PA09 RSP Auto tuning response Each axis 12 1 to 32

Setting

Factory

setting

Unit

Setting

range

Refer to the text.

POINT

This parameter cannot be used in the torque control mode.

Make gain adjustment using auto tuning. Refer to section 6.2 for details.

(1) Auto tuning mode (parameter No.PA08)

Select the gain adjustment mode.

Parameter No.PA08

000

Gain adjustment mode setting

Setting Gain adjustment mode Automatically set parameter No. (Note)

Interpolation mode

Auto tuning mode 1

Auto tuning mode 2

Manual mode

PB06 PB08 PB09 PB10

PB06 PB07 PB08 PB09 PB10

PB07 PB08 PB09 PB10

Note. The parameters have the following names.

Parameter No. Name

PB06 Load to motor inertia moment ratio PB07 Model loop gain PB08 Position loop gain PB09 Speed loop gain PB10 Speed integral compensation

5 - 6

5. PARAMETERS

(2) Auto tuning response (parameter No.PA09)

If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value.

Setting Response

1 Low response 10.0 17 Middle response 67.1 2 11.3 18 75.6 3 12.7 19 85.2 4 14.3 20 95.9 5 16.1 21 108.0 6 18.1 22 121.7 7 20.4 23 137.1 8 23.0 24 154.4

9 25.9 25 173.9 10 29.2 26 195.9 11 32.9 27 220.6 12 37.0 28 248.5 13 41.7 29 279.9 14 47.0 30 315.3 15 16 Middle response 59.6 32 High response 400.0

5.1.8 In-position range

Guideline for machine

resonance frequency [Hz]

52.9 31

Setting Response

Guideline for machine

resonance frequency [Hz]

355.1

Parameter

No. Symbol Name

PA10 INP In-position range Each axis 100 pulse 0 to 65535

Setting

Factory

setting

Unit

Setting

range

POINT

This parameter cannot be used in the speed control mode and the torque control

mode.

Set the range, where in position (INP-A/INP-B) is output, in the command pulse unit.

Servo motor droop pulses

Command pulse

Droop pulses

In-position (INP-A/INP-B)

OFF

Command pulse

In-position range [pulse]

5 - 7

5. PARAMETERS

5.1.9 Selection of servo motor rotation direction

Parameter

No. Symbol Name

PA14 *POL Rotation direction selection Each axis 0 0 1

Setting

Factory

setting

Unit

Setting

range

POINT

Turn off the power and then on again, or reset the controller after setting the

parameter to validate the parameter value.

Select servo motor rotation direction relative.

Servo motor rotation direction (Note)

When positioning address increases

Parameter No.PA14

setting

0 CCW CW 1 CW CCW

Note. Torque generation direction for the torque control

Command speed in the positive direction

Command torque in the positive direction

(Position control)

(Speed control)

(Torque control)

When positioning address decreases

(Position control)

Command speed in the negative direction

(Speed control)

Command torque in the negative direction

(Torque control)

Forward rotation (CCW)

Reverse rotation (CW)

5.1.10 Encoder output pulse

Parameter

No. PA15 *ENR Encoder output pulses Each axis 4000 pulse/rev 1 to 65535 PA16 *ENR2 Encoder output pulses 2 Each axis 0 0 to 65535

Setting

Factory

setting

Unit

Setting

range

POINT

Turn off the power and then on again, or reset the controller after setting the

parameter to validate the parameter value.

Used to set the encoder pulses (A/B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No.PC03 to choose the output pulse setting or output division ratio setting. The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within this range.

5 - 8

5. PARAMETERS

(1) For output pulse designation

Set " Set the number of pulses per servo motor revolution. Output pulse For instance, set "5600" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below.

0 " in parameter No.PC03.

set value [pulses/rev]

A/B-phase output pulses 1400 [pulse]

(2) For output division ratio setting

Set " The number of pulses per servo motor revolution is divided by the set value.

Output pulse

For instance, set "8" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below.

A/B-phase output pulses 8192 [pulse]

(3) A/B-phase pulse electronic gear setting

This parameter is made valid when parameter No.PC03 is set to " Set the encoder pulses (A/B-phase) output by the servo amplifier. Set the encoder pulses output by the servo amplifier by parameter No.PA15 and parameter No.PA16. Travel distance [pulse] of the linear encoder is multiplied by the set value.

Output pulse Travel distance of linear encoder [pulse]

1 " in parameter No.PC03.

Resolution per servo motor revolution

5600

Set value

262144 81

[pulses/rev]

3 ".

Set value of parameter No.PA15 Set value of parameter No.PA16

The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses. Also, the maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within the range. When the set value is "0 (factory setting)", it is internally treated as "1".

5 - 9

5. PARAMETERS

5.2 Gain/filter parameters (No.PB

POINT The parameter whose symbol preceded by * can be validated with the following conditions. * : Turn off the power and then on again, or reset the controller after setting the

parameter.

The gain/filter parameters (No.PB ) cannot be used in the torque loop mode.

5.2.1 Parameter list

)

No. Symbol Name

PB01 FILT Adaptive tuning mode (Adaptive filter ) Each axis 0000h PB02 VRFT Vibration suppression control tuning mode

(advanced vibration suppression control) PB03 This parameter is not used. Do not change the value. 0 PB04 FFC Feed forward gain Each axis 0 % PB05 This parameter is not used. Do not change the value. 500 PB06 GD2 Load to motor inertia moment ratio Each axis 7.0 Multiplier

PB07 PG1 Model loop gain Each axis 24 rad/s PB08 PG2 Position loop gain Each axis 37 rad/s PB09 VG2 Speed loop gain Each axis 823 rad/s PB10 VIC Speed integral compensation Each axis 33.7 ms PB11 VDC Speed differential compensation Each axis 980 PB12 This parameter is not used. Do not change the value. 0 PB13 NH1 Machine resonance suppression filter 1 Each axis 4500 Hz PB14 NHQ1 Notch shape selection 1 Each axis 0000h PB15 NH2 Machine resonance suppression filter 2 Each axis 4500 Hz PB16 NHQ2 Notch shape selection 2 Each axis 0000h PB17 Automatic setting parameter PB18 LPF Low-pass filter setting Each axis 3141 rad/s PB19 VRF1 Vibration suppression control vibration frequency setting Each axis 100.0 Hz PB20 VRF2 Vibration suppression control resonance frequency setting Each axis 100.0 Hz PB21 This parameter is not used. Do not change the value. 0.00 PB22 PB23 VFBF Low-pass filter selection Each axis 0000h PB24 *MVS Slight vibration suppression control selection Each axis 0000h PB25 This parameter is not used. Do not change the value. 0000h PB26 *CDP Gain changing selection Each axis 0000h PB27 CDL Gain changing condition Each axis 10 PB28 CDT Gain changing time constant Each axis 1 ms PB29 GD2B Gain changing load to motor inertia moment ratio Each axis 7.0 Multiplier

PB30 PG2B Gain changing position loop gain Each axis 37 rad/s PB31 VG2B Gain changing speed loop gain Each axis 823 rad/s PB32 VICB Gain changing speed integral compensation Each axis 33.7 ms PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Each axis 100.0 Hz PB34 VRF2B Gain changing vibration suppression control resonance frequency setting Each axis 100.0 Hz

Setting

(Note 1)

Each axis 0000h

Factory

setting

(Note 2)

0.00

Unit

(

5 - 10

5. PARAMETERS

No. Symbol Name

PB35 This parameter is not used. Do not change the value. 0.00 PB36 0.00 PB37 100 PB38 0.0 PB39 0.0 PB40 0.0 PB41 1125 PB42 1125 PB43 0004h PB44 0.0 PB45

Note 1. Each axis: Set a value for each of the A-axis and the B-axis.

2. Valid for the A-axis and the B-axis.

Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are set, the last set value becomes valid.

Setting

(Note 1)

5.2.2 List of details

Factory

setting

(Note 2)

0000h

Unit

No. Symbol Name and function Setting

PB01 FILT Adaptive tuning mode (Adaptive filter )

Used to set the mode for the machine resonance suppression filter 1.

Each

axis

Factory

setting 0000h Refer to

Unit

000

Filter tuning mode 0: Invalid 1: Cannot be set 2: Manual setting

If " 1" is set for this parameter, it is automatically rewritten as " 0". PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression

control)

Used to set the tuning mode for the vibration suppression control.

Each

axis

0000h Refer to

000

Vibration suppression control tuning mode 0: Invalid 1: Cannot be set 2: Manual setting

If " 1" is set for this parameter, it is automatically rewritten as " 0". PB03 This parameter is not used. Do not change the value. 0 PB04 FFC Feed forward gain

This parameter cannot be used in the speed control mode.

Set the feed forward gain. When the setting is 100%, the droop pulses during

operation at constant speed are nearly zero. However, sudden

acceleration/deceleration will increase the overshoot. As a guideline, when the

feed forward gain setting is 100%, set 1s or more as the acceleration time

constant up to the rated speed.

Each

axis

0 % 0

Setting

range

Name

and function column.

Name

and function column.

100

5 - 11

5. PARAMETERS

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Each

axis

Factory

setting

7.0 Multiplier

24 rad/s 1

37 rad/s 1

823 rad/s 20

33.7 ms 0.1

980 0

No. Symbol Name and function Setting

PB05 This parameter is not used. Do not change the value. 500 PB06 GD2 Load to motor inertia moment ratio

Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 6.1.1) In this case, it varies between 0 and 100.0. When parameter No.PA08 is set to " be set manually.

PB07 PG1 Model loop gain

Set the response gain up to the target position. Increase the gain to improve track ability in response to the command. When auto turning mode 1, 2 is selected, the result of auto turning is automatically used. When parameter No.PA08 is set to " be set manually.

PB08 PG2 Position loop gain

This parameter cannot be used in the speed control mode. Used to set the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1, 2 and interpolation mode is selected, the result of auto tuning is automatically used. When parameter No.PA08 is set to " manually.

PB09 VG2 Speed loop gain

Set this parameter when vibration occurs on machines of low rigidity or large backlash. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1, 2 and interpolation mode is selected, the result of auto tuning is automatically used. When parameter No.PA08 is set to " manually.

PB10 VIC Speed integral compensation

Used to set the integral time constant of the speed loop. Lower setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1, 2 and interpolation mode is selected, the result of auto tuning is automatically used. When parameter No.PA08 is set to " manually.

PB11 VDC Speed differential compensation

Used to set the differential compensation. When parameter No.PB24 is set to " When parameter No.PA08 is set to " instructions of controller.

PB12 This parameter is not used. Do not change the value. 0

2" or " 3", this parameter can

0" or " 3", this parameter can

3", this parameter can be set

3 ", this parameter is made valid. 0 ", this parameter is made valid by

Unit

(

1) 0 to

Setting

range

300.0

2000

1000

50000

1000.0

1000

5 - 12

5. PARAMETERS

No. Symbol Name and function Setting

PB13 NH1 Machine resonance suppression filter 1

Set the notch frequency of the machine resonance suppression filter 1. When the parameter No.PB01 setting is " is ignored. If a value exceeding "3000" is set for this parameter, it is automatically rewritten as "3000".

PB14 NHQ1 Notch shape selection 1

Select the shape of the machine resonance suppression filter 1.

0", the setting of this parameter

Notch depth selection

Setting value Depth Gain

0 Deep 1 14dB

2 8dB

3 4dBShallow

Notch width

Setting value Width

02Standard 13 24 35Wide

40dB

Each

axis

Each

axis

Factory

setting

4500 Hz 100

0000h Refer to

Unit

Setting

range

4500

Name

and function column.

When the parameter No.PB01 setting is " 0", the setting of this parameter is ignored.

PB15 NH2 Machine resonance suppression filter 2

Set the notch frequency of the machine resonance suppression filter 2. Set parameter No.PB16 (notch shape selection 2) to " parameter valid. If a value exceeding "3000" is set for this parameter, it is automatically rewritten as "3000".

PB16 NHQ2 Notch shape selection 2

Select the shape of the machine resonance suppression filter 2.

Machine resonance suppression filter 2 selection 0: Invalid 1: Valid

Notch depth selection

Setting value Depth Gain

0 40dBDeep 1 14dB 2 8dB

3 4dBShallow

Notch width

Setting value Width

02Standard

1 2 3Wide

Each

axis

1" to make this

Each

axis

3 4 5

4500 Hz 100

4500

0000h Refer to

Name

and function column.

5 - 13

Mitsubishi Electric MELSERVO-J3W, MR-J3W-0303BN6, MR-J3W-1010B, MR-J3W-22B, MR-J3W-44B Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

COMPLIANCE WITH CE MARKING

COMPLIANCE WITH UL/CSA STANDARD

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

1.2 Function block diagram

1.3 Servo amplifier standard specifications

1.4 Function list

1.5 Model code definition

1.6 Combination with servo motor

1.7 Parts identification

1.8 Configuration including auxiliary equipment

2. INSTALLATION

2.1 Installation direction and clearances

2.2 Keep out foreign materials

2.3 Cable stress

2.5 Inspection items

2.6 Parts having service lives

3. SIGNALS AND WIRING

3.1 Input power supply circuit

3.2 I/O signal connection example

3.3 Explanation of power supply system

3.3.1 Signal explanations

3.3.2 Power-on sequence

3.3.3 CNP1, CNP2, CNP3A, CNP3B wiring method

3.4 Connectors and signal arrangements

3.5 Signal (device) explanations

3.6 Alarm occurrence timing chart

3.6.1 Timing chart

3.6.2 Supplementary information

3.7 Interfaces

3.7.1 Internal connection diagram

3.7.2 Detailed description of interfaces

3.7.3 Source I/O interfaces

3.8 Treatment of cable shield external conductor

3.10 Connection of servo amplifier and servo motor

3.10.1 Connection instructions

3.10.2 Power supply cable wiring diagrams

3.11 Servo motor with an electromagnetic brake

3.11.1 Safety precautions

3.11.2 Timing charts

3.12 Grounding

3.13 Control axis selection

3.14 Servo motor selection switch (SW3)

4. STARTUP

4.1 Switching power on for the first time

4.1.1 Startup procedure

4.1.2 Wiring check

4.1.3 Surrounding environment

4.2 Startup

4.3 Servo amplifier display

4.3.1 Scrolling display

4.3.2 Status display of an axis

4.4 Test operation

4.5 Test operation mode

4.5.1 Test operation mode in MR Configurator

4.5.2 Motor-less operation in controller

5. PARAMETERS

5.1.1 Parameter list

5.1.2 Parameter write inhibit

5.1.3 Selection of control mode

5.1.4 Selection of regenerative option

5.1.5 Using absolute position detection system

5.1.6 Forced stop input selection

5.1.7 Auto tuning

5.1.8 In-position range

5.1.9 Selection of servo motor rotation direction

5.1.10 Encoder output pulse

5.2.1 Parameter list

5.2.2 List of details