Mitsubishi Electric MELSERVO-J3W, MR-J3W-0303BN6, MR-J3W-1010B, MR-J3W-22B, MR-J3W-44B Instruction Manual
...
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.
C
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)
2
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
2
2
2
2
2
Servo amplifier
U
V
W
Servo motor
U
V
W
Servo motorServo amplifier
U
M
V
W
U
V
M
W
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
RA
Control output
signal
DICOM
For the source output interface
RA
When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.
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
RA
Contacts must be opened with
the emergency stop switch.
B
U
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 ).
CONTENTS
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
1
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
2
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
3
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
4
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
5
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
6
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
7
MEMO
8
1. FUNCTIONS AND CONFIGURATION
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
MC
Diode
stack
L1
L2
CNP1CNP2
3
L
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
U
U
V
V
W
W
CNP3ACN2A
B1
RA
24VDC
B
B2
Encoder
B-axis Servo motor
U
U
V
V
W
W
CNP3BCN2B
B1
RA
24VDC
B
B2
M
Electromagnetic
brake
M
Electromagnetic
brake
Virtual
motor
Current
detection
B
Virtual
encoder
Encoder
-
MR
BTCASE
CN4
Optional battery
Regenerative
brake
Control (A)
Model position
control (A)
Overcurrent
Model speed
control (A)
Current
detection
A
Virtual
encoder
Virtual
motor
A
Overvoltage
Control (B)
Model position
control (B)
Overcurrent
Model speed
control (B)
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
5
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)
90
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
7
6
5
4
3
2
ON 4E
12
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
8
7
6
5
4
8
9
A
B
C
D
E
F
1
0
3
2
1
0
SW2
Used to set the axis No. of servo amplifier.
9
A
B
C
D
E
F
Test operation select switch (SW2-1)
Used to perform the test operation
Section 3.13
mode by using MR Configurator.
1
to the "Down" position).
For manufacturer setting (Be sure to set
2
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)
NO
A-axis
SW3
Bottom
21
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
L
1
L2
L
3
CNP1
CN3
(Note 3)
V
U
W
P
C
D
W
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
21
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
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
30mm
or more
Control box
100mm
or more
10mm
or more
30mm
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
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