Mitsubishi Electronics TM-RFM, MR-J3-B-RJ080W User Manual

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General-Purpose AC Servo

J3 Series

SSCNET Interface Direct Drive Servo

MODEL (Servo Amplifier)

MR-J3- B-RJ080W

MODEL (Direct Drive Motor)

TM-RFM

INSTRUCTION MANUAL

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, MR-J3documents carefully. Do not use the servo amplifier and direct drive 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.

B Servo amplifier Instruction Manual, and appended

: 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, 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. Then, confirm that the voltage between P( 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 direct drive 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 direct drive motor until they have been installed. Otherwise, it may cause 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, it may cause an electric shock. During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause an electric shock. Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock. Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the power is off. The servo amplifier is charged and you may get an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. When using a residual current device (RCD), select type B. To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

) and N( ) is safe with a voltage tester and others.

CAUTION

Install the servo amplifier, direct drive 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 of the servo amplifier (L 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. 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 direct drive motor. Always connect a molded-case circuit breaker to the power supply of the servo amplifier.

, L2, and L3), and configure the wiring to be able to shut down the power supply on the

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. The servo amplifier heat sink, regenerative resistor, direct drive motor, etc. may be hot while power is on or for some time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them. During operation, never touch the rotor of the direct drive motor. Otherwise, it may 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 direct drive motor by holding the cables, rotor, encoder or connector. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop. Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. The servo amplifier and direct drive motor must be installed in the specified direction. Leave specified clearances between the servo amplifier and cabinet inside walls or other equipment. Otherwise, it may cause a malfunction. Do not install or operate the servo amplifier and direct drive motor which has been damaged or has any parts missing. Do not block intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction. Do not drop or strike servo amplifier or direct drive motor. Isolate from all impact loads. Securely attach the direct drive motor to the machine. If you attach it insecurely, the direct drive motor may come off during operation. Measure a direct drive motor, and check the motor vibration level. A great vibration may cause the early damage of a bearing, encoder, and brake. The great vibration may also cause the poor connector connection or bolt looseness. For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform by using a measurement device, and then check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage of the direct drive motor. Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the direct drive motor during operation. Never hit the rotor of the direct drive motor, especially when coupling the direct drive motor to the machine. Otherwise, the encoder may malfunction.

A - 3

CAUTION

Do not subject the rotor of the direct drive motor to more than the permissible load. Otherwise, the rotor may break. When the equipment has been stored for an extended period of time, contact your local sales office. When you keep or use it, please fulfill the following environment.

Environment

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

Ambient temperature

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

Ambient

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

humidity

Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

Altitude Max. 1000m above sea level

Vibration resistance

When treating the servo amplifier and direct drive motor be careful about the edged parts such as the corners of the servo amplifier and direct drive motor. The servo amplifier must be installed in the metal cabinet.

(2) Wiring

Item

Operation

Storage

Storage 90

[ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing)

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

Servo amplifier Direct drive motor

RH or less (non-condensing)

at 10 to 55Hz

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

TM-RFM C20 TM-RFM TM-RFM

TM-RFM

E20 G20

J10 X, Y: 24.5 m/s2

X, Y: 49 m/s

CAUTION

Wire the equipment correctly and securely. Otherwise, the direct drive motor may operate unexpectedly. Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option) between the direct drive motor and servo amplifier. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and direct drive motor.

A - 4

CAUTION

Connect the servo amplifier power supply output (U, V, and W) to the direct drive motor power supply input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

Direct drive motor

Servo amplifier Direct drive motor

Do not connect AC power directly to the direct drive motor. Otherwise, it may cause a malfunction. The surge absorbing diode installed on 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

DOCOM

Control output signal

DICOM

For sink output interface

24VDC

Servo amplifier

24VDC

DOCOM

Control output signal

DICOM

For 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.

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be 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. Electromagnetic interference may be given to 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 direct drive motor.

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 direct drive motor with an external brake mechanism for the purpose of prevention. When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Design the machine in order to avoid sudden restarting in case of 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) Storage

CAUTION

Note the following points when storing the direct drive motor for an extended period of time (guideline: three or more months).

Always store the direct drive motor indoors in a clean and dry place. If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product. If the insulation resistance of the winding decreases, reexamine the storage method. Though the direct drive motor is rust-proofed before shipment using paint or rust prevention oil, rust may be produced depending on the storage conditions or storage period. If the direct drive motor is to be stored for longer than six months, apply rust prevention oil again especially to the machined surfaces of the rotor, etc. Before using the product after storage for an extended period of time, hand-turn the direct drive motor rotor (output shaft) to confirm that nothing is wrong with the direct drive motor. When the equipment has been stored for an extended period of time, contact your local sales office.

(8) 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 servo amplifier, 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.

COMPLIANCE WITH THE CE MARKING

Refer to Appendix 5 for the compliance with CE marking.

<<About the manuals>>

This Instruction Manual and the following manuals are required if you use this direct drive servo for the first time. Always purchase them and use the direct drive servo safely.

A - 7

Relevant manuals

Manual name Manual No.

MELSERVO-J3 Series Instructions and Cautions for Safe Use of AC Servos IB(NA)0300077

MELSERVO-J3 Series MR-J3- B Servo Amplifier Instruction Manual SH(NA)030051

This Instruction Manual describes the functions unique to the SSCNET Therefore, when using the MR-J3-

B-RJ080W, refer to the SSCNET Interface MR-J3- B Servo

Interface Direct Drive Servo.

Amplifier Instruction Manual as well. However, the following items are not described in this Instruction Manual. For details of these items, refer to the MR-J3-

Item MR-J3- B Servo Amplifier Instruction Manual

INSTALLATION CHAPTER 2

STARTUP CHAPTER 4

GENERAL GAIN ADJUSTMENT CHAPTER 6

SPECIAL ADJUSTMENT FUNCTIONS CHAPTER 7

OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 11

B Servo Amplifier Instruction Manual.

<<Wiring>>

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

(104 ).

A - 8

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -12

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

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

1.3 Function list .............................................................................................................................................. 1 - 4

1.4 Model code definition ............................................................................................................................... 1 - 5

1.5 Combinations of servo amplifiers and direct drive motor........................................................................ 1 - 5

1.6 Parts identification .................................................................................................................................... 1 - 6

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

2. DIRECT DRIVE MOTOR 2 - 1 to 2 -34

2.1 Rating plate .............................................................................................................................................. 2 - 1

2.2 Parts identification .................................................................................................................................... 2 - 1

2.3 Installation ................................................................................................................................................2 - 2

2.3.1 Equipment configuration ................................................................................................................... 2 - 3

2.3.2 Installation orientation ....................................................................................................................... 2 - 4

2.3.3 Load remove precautions ................................................................................................................. 2 - 4

2.3.4 Permissible load for the rotor ............................................................................................................ 2 - 4

2.3.5 Protection from oil and water ............................................................................................................ 2 - 5

2.3.6 Inspection ..........................................................................................................................................2 - 6

2.3.7 Life ..................................................................................................................................................... 2 - 6

2.3.8 Machine accuracies .......................................................................................................................... 2 - 7

2.3.9 Flange surface size ........................................................................................................................... 2 - 7

2.4 Connectors used for direct drive motor wiring ........................................................................................ 2 - 8

2.4.1 Selection of connectors..................................................................................................................... 2 - 8

2.4.2 Wiring connectors (Connector configurations A

2.4.3 Connector outline drawings ............................................................................................................. 2 -11

2.5 TM-RFM series direct drive motor .......................................................................................................... 2 -15

2.5.1 Model code definition .......................................................................................................................2 -15

2.5.2 Specification list ................................................................................................................................ 2 -16

2.5.3 Torque characteristic........................................................................................................................ 2 -19

2.5.4 Outline dimension drawings............................................................................................................. 2 -20

2.5.5 Connection of servo amplifier and direct drive motor ..................................................................... 2 -32

B C D E F) .............................................. 2 - 9

3. SIGNALS AND WIRING 3 - 1 to 3 -12

3.1 Precautions for this chapter .....................................................................................................................3 - 2

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

3.2.1 Selection example of wires ............................................................................................................... 3 - 3

3.2.2 Connection example ......................................................................................................................... 3 - 4

3.3 I/O signal connection example ................................................................................................................ 3 - 7

3.4 Connector and signal arrangements ....................................................................................................... 3 - 9

3.5 Internal connection diagram ................................................................................................................... 3 -10

3.5.1 Incremental system .......................................................................................................................... 3 -10

3.5.2 Absolute position detection system .................................................................................................3 -11

4. OPERATION AND FUNCTIONS 4 - 1 to 4 -18

4.1 Startup ...................................................................................................................................................... 4 - 1

4.2 Magnetic pole detection ........................................................................................................................... 4 - 2

4.2.1 Preparation for the magnetic pole detection .................................................................................... 4 - 2

4.2.2 Driving when magnetic pole is detected........................................................................................... 4 - 3

4.2.3 Magnetic pole detection method setting........................................................................................... 4 - 6

4.2.4 Setting the magnetic pole detection voltage level of the position detection method ...................... 4 - 6

4.2.5 Magnetic pole detection method using MR Configurator................................................................. 4 - 8

4.3 Operation from the controller .................................................................................................................. 4 -10

4.3.1 Operation method............................................................................................................................. 4 -10

4.3.2 Servo system controller setting........................................................................................................ 4 -11

4.4 Servo control error detection function .................................................................................................... 4 -16

5. PARAMETERS 5 - 1 to 5 -12

5.1 Parameter write inhibit (Parameter No.PA19)......................................................................................... 5 - 1

5.2 Basic setting parameters (No.PA

5.2.1 Parameter list .................................................................................................................................... 5 - 2

5.2.2 List of details...................................................................................................................................... 5 - 3

5.3 Gain/Filter parameters (No.PB

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

5.4 Extension setting parameters (No.PC

5.4.1 Parameter list .................................................................................................................................... 5 - 6

5.5 I/O setting parameters (No.PD

5.5.1 Parameter list .................................................................................................................................... 5 - 7

5.6 Special setting parameters (No.PS

5.6.1 Parameter list .................................................................................................................................... 5 - 8

5.6.2 List of details...................................................................................................................................... 5 - 9

).................................................................................................... 5 - 2

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

) ............................................................................................ 5 - 6

) ....................................................................................................... 5 - 7

) ................................................................................................ 5 - 8

6. TROUBLESHOOTING 6 - 1 to 6 - 8

6.1 Alarms and warning list ............................................................................................................................ 6 - 1

6.2 Remedies for alarms ................................................................................................................................ 6 - 2

6.3 Remedies for warnings ............................................................................................................................ 6 - 6

7. SERVO AMPLIFIER OUTLINE DRAWINGS 7 - 1 to 7 - 6

8. CHARACTERISTICS 8 - 1 to 8 - 4

8.1 Overload protection characteristics .........................................................................................................8 - 1

8.2 Dynamic brake characteristics................................................................................................................. 8 - 3

8.2.1 Dynamic brake operation .................................................................................................................. 8 - 3

8.2.2 The dynamic brake at the load inertia moment ratio........................................................................8 - 4

9. OPTIONS FOR DIRECT DRIVE SERVO 9 - 1 to 9 -12

9.1 Cable/connector sets ...............................................................................................................................9 - 1

9.1.1 Combinations of cable and connector set ........................................................................................9 - 2

9.1.2 Encoder connector set ......................................................................................................................9 - 4

9.2 Absolute position storage unit MR-BTAS01........................................................................................... 9 -10

APPENDIX App.- 1 to App.- 8

App. 1 Parameter list..................................................................................................................................App.- 1

App. 2 Signal layout recording paper ........................................................................................................App.- 3

App. 3 Handling of AC servo amplifier batteries for the United Nations Recommendations on the

Transport of Dangerous Goods ....................................................................................................App.- 3

App. 4 Symbol for the new EU Battery Directive ......................................................................................App.- 5

App. 5 Compliance with the CE marking...................................................................................................App.- 6

MEMO

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

To meet high-accuracy and high-efficiency requirements in areas including semiconductor and liquid crystal related machines, and surface mount device placement machines, a system with a direct drive motor in a drive axis has been increased. The direct drive servo system includes the following features.

(1) Performance

(a) Since load is directly coupled to the direct drive motor, gear reducer and transmission elements can be

(2) Mechanism

eliminated, offering greater rigidity and torque.

(b) The high-resolution encoder contributes to high-accuracy control.

operation and shorter settling time.

(d) Because of no reduction gear or others, the direct drive motor does not deteriorate with time.

(a) The motor's low profile design contributes to compact construction and a low center of gravity for

enhanced machine stability.

(b) The motor has an inner rotor with hollow shaft which enables cables and pipes to be passed through.

The following shows the differences between the direct drive servo and the MR-J3-

1 - 1

1. FUNCTIONS AND CONFIGURATION

Classification Item

(MR-J3-

External I/O signal Stroke limit input signal

(FLS, RLS)

Motor pole adjustment Magnetic pole detection

operation

Absolute position

detection system

Alarm/warning Alarm/warning designed

Battery for absolute position

encoder

(MR-J3BAT)

Absolute position storage unit

(MR-BTAS01)

exclusively for the direct drive

servo

Required (when

magnetic pole is

detected)

Required Not required (adjusted

Required Required

Required Not required

Addition Alarm/warning which is added

Differences

Direct drive servo

B-RJ080W)

MR-J3-

Not required Automatically turns on in the

at shipment)

parameter setting.

Automatically executed at the

first servo-on after turning the

power on.

For the absolute position

detection system, the

magnetic polarity detection

can be made invalid in the

setting of parameter No.PS01.

(Refer to section 4.2.2 (2).)

or the contents is changed

Remarks

Encoder combination error

(1F)

Encoder error2 (20)

Encoder error3 (21)

Absolute position erase (25)

Initial magnetic pole

detection error (27)

Encoder counter error (2B)

Servo control error (42)

Direct drive motor overheat

(46)

Battery cable disconnection

warning (92)

Battery warning (9F)

Direct drive motor overheat

warning (E2)

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.2 Servo amplifier standard specifications

Servo amplifier

MR-J3-

Item

Rated voltage 3-phase 170VAC

Output

Rated current [A] 1.5 2.8 3.2 5.8 6.0 17.0 28.0

Voltage/frequency 3-phase or 1-phase 200 to 230VAC, 50/60Hz 3-phase 200 to 230VAC, 50/60Hz

Rated current [A] 1.5 2.6 3.2 3.8 5.0 16.0 21.7

Permissible voltage fluctuation 3-phase or 1-phase 170 to 253VAC 3-phase 170 to 253VAC

Permissible frequency

fluctuation

Power supply capacity Refer to section 2.5.2

Main circuit power supply

Inrush current Refer to section 10.5 "MR-J3- B Servo Amplifier Instruction Manual"

Control circuit

power supply

Interface power

supply

Control system Sine-wave PWM control, current control system

Dynamic brake Built-in

Protective functions

Close mounting (Note 2)

Structure Natural-cooling, open (IP rating: IP00) Force-cooling, open (IP rating: IP00)

Ambient

temperature

humidity

Ambient

Environmental conditions

Altitude Max. 1000m above sea level

Vibration resistance 5.9m/s2 10 to 55Hz (directions of X, Y and Z axes)

Mass

Note 1. 0.15A 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 servo amplifiers, operate them at the ambient temperatures of 0 to 45

smaller effective load ratio.

-RJ080W

Voltage,

frequency

Rated current [A] 0.2 0.3

Permissible

voltage

fluctuation

Permissible

frequency

fluctuation

Power

consumption [W]

Input 30W 45W

Inrush current Refer to section 10.5 "MR-J3-

Voltage 24VDC 10

Power supply

capacity [A]

Operation

Storage

Operation Ambient

Storage

Indoors (no direct sunlight)

[ ] (Note 2) 0 to 55 (non-freezing)

[

[ ] 20 to 65 (non-freezing)

[

[kg] 0.8 1.0 1.0 1.4 1.4 2.3 4.6

20B 40B 60B 70B 100B 350B 500B

Within

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

1-phase 170 to 253VAC

Within

30 45

B Servo Amplifier Instruction Manual"

(Note 1) 0.15

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

relay), direct drive motor overheat protection, encoder error protection, regenerative error

protection, undervoltage, instantaneous power failure protection, overspeed protection,

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

] (Note 2) 32 to 131 (non-freezing)

] 4 to 149 (non-freezing)

RH or less (non-condensing)

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

[lb] 1.8 2.2 2.2 3.1 3.1 5.1 10

(32 to 113 ) or at 75 or

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.3 Function list

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

Function Description Reference

Absolute position detection

system

Gain changing function You can switch between gains during rotation and gains during stop or use an

Advanced vibration

suppression control

Adaptive filter Servo amplifier detects mechanical resonance and sets filter characteristics

Low-pass filter Suppresses high-frequency resonance which occurs as servo system response

Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply

Machine simulation Can simulate machine motions on a personal computer screen on the basis of

Gain search function Personal computer with MR Configurator changes gains automatically and

Robust disturbance

compensation

Advanced Gain search Advanced Gain search automatically searches for the optimum parameter for

Slight vibration suppression

control

Auto tuning Automatically adjusts the gain to optimum value if load applied to the direct drive

Brake unit Used when the regenerative option cannot provide enough regenerative power.

Power regenerative converter Used when the regenerative option cannot provide enough regenerative power.

Regenerative option Used when the built-in regenerative resistor of the servo amplifier does not have

Alarm history clear Alarm history is cleared.

Output signal selection

(Device settings)

Output signal (DO) forced

output

Test operation mode JOG operation positioning operation DO forced output. However, MR

Analog monitor output Servo status is output in terms of voltage in real time.

MR Configurator

(C2 or later)

Merely setting a home position once makes home position return unnecessary

at every power-on. A battery (MR-J3BAT) and an absolute position storage unit

(MR-BTAS01) are required.

input device to change gains during operation.

This function suppresses vibration at the arm end or residual vibration.

automatically to suppress mechanical vibration.

is increased.

connecting MR Configurator installed personal computer and servo amplifier.

MR Configurator is necessary for this function.

Make sure to execute the machine analyzer function after the magnetic pole

detection. If the magnetic pole detection is not executed, this function may not

operate properly.

the machine analyzer results. MR Configurator is necessary for this function.

searches for overshoot-free gains in a short time. MR Configurator is necessary

for this function.

This function provides better disturbance response in case of low response level

due to high load inertia moment ratio for the roll send axis.

MR Configurator is necessary for this function.

settle time to be short.

The gain can be adjusted by setting sequentially in accordance with wizard

screens.

MR Configurator is necessary for this function.

Suppresses vibration of 1 pulse produced at a direct drive motor stop.

motor rotor varies.

Can be used the 5kW or more servo amplifier.

sufficient regenerative capability for the regenerative power generated.

The pins that output the output devices, including the malfunction (ALM) and the

dynamic brake interlock (DB), can be changed to certain pins of the CN3

connectors.

Output signal can be forced on/off independently of the servo status. Use this

function for output signal wiring check, etc.

Configurator is necessary for positioning operation.

Using a personal computer, parameter setting, test operation, status display,

etc. can be performed.

1 - 4

Chapter 9

MR-J3-

Amplifier Instruction

Manual

MR-J3-

Amplifier Instruction

Manual

B Servo

1. FUNCTIONS AND CONFIGURATION

1.4 Model code definition

(1) Rating plate

MODEL

(2) Model

MR-J3-20B-RJ080W

200W

POWER

1.5A 3PH+1PH200-230V 50Hz

INPUT

OUTPUT SERIAL KCC-REI-MEK-TC300A***G51

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

3PH+1PH200-230V 60Hz

2.2A 1PH200-230V 50Hz/60Hz 170V 0-360Hz 1.5A

A18001050

Series name

AC SERVO DATE: 2012-11

The year and month of manufacture Model Capacity Applicable power supply Rated output current Serial number

KC mark number Country of origin

Direct drive motor compatible

SSCNET Interface

Rated output

Symbol

Rated output [kW]

20 0.2 40 0.4 60 0.6

70 0.75 100 1 350 3.5 500 5

1.5 Combinations of servo amplifiers and direct drive motor

The following table lists combinations of servo amplifiers and direct drive motors.

Servo amplifier

Direct drive motor

TM-RFM

C20 TM-RFM E20 TM-RFM G20 TM-RFM J10

MR-J3-20B-RJ080W 002

MR-J3-40B-RJ080W 004

MR-J3-60B-RJ080W 006 006

MR-J3-70B-RJ080W 012 012 040

MR-J3-100B-RJ080W 018

MR-J3-350B-RJ080W 048 072 120

MR-J3-500B-RJ080W 240

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.6 Parts identification

(1) MR-J3-100B-RJ080W or less

Fixed part (2 places)

SW1

TEST

SW2

ON 4E

Name/Application

Detailed

explanation

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

status and alarm number.

Rotary axis setting switch (SW1)

SW1

Used to set the axis No. of servo amplifier.

Refer to the

MR-J3- B

Servo

Amplifier

SW2

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

Instruction

Manual.

mode by using MR Configurator.

For manufacturer setting (Be sure to set to the "Down" position).

USB communication connector (CN5) Connect the personal computer.

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

Section 3.2

I/O signal connector (CN3) Used to connect digital I/O signals.

Section 3.3

More over an analog monitor is output.

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

Section 3.2

option.

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

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

Direct drive motor power output connector (CNP3) Connect the direct drive motor.

Encoder connector (CN2) Used to connect the direct drive motor encoder.

Refer to the

MR-J3- B

Servo

Amplifier

Instruction

Manual.

Chapter 2

Section 3.2

Chapter 2

Section 3.4

Chapter 9

Connector for manufacturer setting (CN2L) Not used for this servo amplifier.

Battery connector (CN4) Used to connect the battery for absolute position data backup.

Battery holder Install the battery MR-J3BAT.

Refer to the

MR-J3- B

Servo

Amplifier

Instruction

Manual.

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

Protective earth (PE) terminal ( ) Ground terminal.

Rating plate

Section 3.2

Section 1.4

1 - 6

1. FUNCTIONS AND CONFIGURATION

(2) MR-J3-350B-RJ080W

Cooling fan

Fixed part (3 places)

SW1

TEST

SW2

ON 4E

Name/Application

Detailed

explanation

Display The 3-digit, seven-segment LED shows the servo status and alarm number.

Rotary axis setting switch (SW1)

SW1

Used to set the axis No. of servo amplifier.

SW2

Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator.

Refer to the

MR-J3- B

Servo

Amplifier

Instruction

Manual.

For manufacturer setting (Be sure to set to the "Down" position).

USB communication connector (CN5) Connect the personal computer.

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

Section 3.2

I/O signal connector (CN3) Used to connect digital I/O signals.

Section 3.3

More over an analog monitor is output.

Direct drive motor power output connector (CNP3) Connect the direct drive motor.

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

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

Encoder connector (CN2) Used to connect the direct drive motor encoder.

Chapter 2

Section 3.2

Refer to the

MR-J3- B

Servo

Amplifier

Instruction

Manual.

Chapter 2

Section 3.4

Chapter 9

Connector for manufacturer setting (CN2L) Not used for this servo amplifier.

Battery connector (CN4) Used to connect the battery for absolute position data backup.

Battery holder Install the battery MR-J3BAT.

Refer to the

MR-J3- B

Servo

Amplifier

Instruction

Manual.

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

Section 3.2

option.

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

Protective earth (PE) terminal ( ) Ground terminal.

Rating plate

Section 3.2

Section 1.4

1 - 7

1. FUNCTIONS AND CONFIGURATION

(3) MR-J3-500B-RJ080W

POINT

The servo amplifier is shown without the front cover. For removal of the front cover,

refer to section 1.7.2 of the MR-J3-

B Servo Amplifier Instruction Manual.

Cooling fan

ON 4E

SW1

TEST

SW2

Fixed part (4 places)

Name/Application

Detailed

explanation

Display The 3-digit, seven-segment LED shows the servo status and alarm number.

Rotary axis setting switch (SW1)

SW1

Used to set the axis No. of servo amplifier.

SW2

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

Refer to the

MR-J3- B

Servo

Amplifier

Instruction

Manual.

mode by using MR Configurator.

For manufacturer setting (Be sure to set to the "Down" position).

USB communication connector (CN5) Connect the personal computer.

I/O signal connector (CN3) Used to connect digital I/O signals.

Section 3.3

More over an analog monitor is output.

Battery holder Install the battery MR-J3BAT.

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

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

Refer to the

MR-J3- B

Servo

Amplifier

Instruction

Manual.

axis, puts a cap.

Encoder connector (CN2) Used to connect the direct drive motor encoder.

Chapter 2

Section 3.4

Chapter 9

Connector for manufacturer setting (CN2L) Not used for this servo amplifier.

Battery connector (CN4) Used to connect the battery for absolute position data backup.

Power factor improving DC reactor terminal block (TE3) Used to connect the power factor improving DC reactor.

Refer to the

MR-J3- B

Servo

Amplifier

Instruction

Manual.

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

Main circuit terminal block (TE1) Used to connect the input power supply and direct drive motor.

Control circuit terminal block (TE2)

Section 3.2

Used to connect the control circuit power supply.

Protective earth (PE) terminal ( ) Ground terminal.

Rating plate

Section 1.4

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.7 Configuration including auxiliary equipment

POINT

Equipment other than the servo amplifier and direct drive motor are optional or

2. DIRECT DRIVE MOTOR

2.1 Rating plate

2.2 Parts identification

AC DIRECT DRIVE MOTOR

TM-RFM002C20

INPUT 3AC 45.7V 1.2A TORQUE 2Nm 200r/min IP42CI.F 5.2kg SER.No. 000000 12Y

Note. Production year and month of the direct drive motor are indicated in a serial number on the

rating plate.

The year and month of manufacture are indicated by the last two digits of the year and one

digit of the month [1 to 9, X(10), Y(11), and Z(12)].

For Nov. 2012, the Serial No. is like, "SER. No.

Z-phase mark

Model Input power supply Rated output Rated speed, IP rating, Insulation class, Mass Serial number (Note) Country of origin

12Y".

Rotor (output shaft)

Encoder connector

Power supply connector Power supply (U, V, and W) Earth ( )

2 - 1

2. DIRECT DRIVE MOTOR

2.3 Installation

WARNING

CAUTION

To prevent electric shock, ground each equipment securely.

Stacking in excess of the limited number of product packages 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. Refer to the specifications of the direct drive motor series. Do not subject the direct drive motor to drop impact or shock loads as they are precision equipment. Do not install or operate the direct drive motor which has been damaged or has any parts missing. Do not carry the direct drive motor by holding the cables, rotor, encoder or connector. Otherwise, a fault or injury may occur. Securely fix the direct drive motor to the machine. If fixed insecurely, the direct drive motor will come off during operation, leading to injury. Measure a direct drive motor, and check the motor vibration level. A great vibration may cause the early damage of a bearing, encoder, and brake. The great vibration may also cause the poor connector connection or bolt looseness. For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform by using a measurement device, and then check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage of the direct drive motor. When coupling the rotor end of the direct drive motor, do not subject the rotor end to impact, such as hammering. The encoder may become faulty. When coupling a load to the direct drive motor, make sure to align and center the load on the motor flange rabbet. Particularly, when the rigid coupling is used, the slight center deviation may cause the decline of the position accuracy, and may cause the rotor damage. Balance the load to the extent possible. Failure to do so can cause vibration during direct drive motor operation or damage the bearings and encoder. Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the direct drive motor during operation. Do not subject the direct drive motor rotor to more than the permissible load. Otherwise, the rotor may break, leading to injury. When the product has been stored for an extended period of time, contact your local sales office. When treating the direct drive motor, be careful about the edged parts such as the corners of the direct drive motor.

2 - 2

2. DIRECT DRIVE MOTOR

2.3.1 Equipment configuration

This section explains the system configuration with a direct drive motor. Note the following points when using a direct drive motor.

(1) Minimum oscillation angle

If the direct drive motor rotates repeatedly by a small angle (by 70° or less), make the direct drive motor rotate by 90° or more at least once a day in order to keep the bearing lubricated.

(2) Z-phase position

A Z-phase pulse turns on (Z-phase mark passing) when the Z-phase mark on the rotor end of the direct drive motor passes over the connector area. Keep the Z-phase position visible even after the direct drive motor is installed to a machine.

Z-phase mark

Rotor (output shaft)

Z-phase pulse turns on when the Z-phase mark passes over the connector area.

Encoder connector

Power supply connector

(3) Precautions for Z-phase mark passing

After power on, the Z-phase mark of the direct drive motor must pass the connector area once. In a system which prevents the direct drive motor from making a full rotation, install the direct drive motor in a position where the Z-phase mark can pass over the connector area.

(4) Vertical axis (lift)

For the system where the unbalanced torque occurs, such as a vertical axis system (lift), use the motor in the absolute position detection system. In the absolute position detection system, the absolute position is established when the Z-phase mark passes the connector area once. At the system startup, make the Z-phase mark pass over the connector area, and switch the servo amplifier's power supply from off to on. If the direct drive motor can be rotated manually, make the Z-phase mark pass over the connector area while only the servo amplifier's control power supply is on. After that, switch the servo amplifier's power supply from off to on. If the direct drive motor cannot be rotated manually, detect the magnetic poles while the torque is balanced, then run the direct drive motor in the test mode to make its Z-phase mark pass over the connector area. After that, switch the servo amplifier's power supply from off to on. After the Z-phase mark passes through the connector area once, magnetic pole detection is not required.

2 - 3

2. DIRECT DRIVE MOTOR

2.3.2 Installation orientation

The following table indicates the installation orientation of the direct drive motor.

Direct drive motor series Direction of installation

TM-RFM May be installed in any direction.

2.3.3 Load remove precautions

POINT

During assembling, the rotor end must not be hammered. Doing so can cause the encoder to fail.

(1) The orientation of the encoder on the direct drive motor cannot be changed.

(2) For installation of the direct drive motor, use spring washers, etc. and fully tighten the bolts so that they do

not become loose due to vibration.

2.3.4 Permissible load for the rotor

POINT

Because the rigid coupling may damage the rotor, make sure to align and center the load on the rotor.

For the permissible rotor load specific to the direct drive motor, refer to section 2.5.2.

(1) When coupling a load to the direct drive motor, the load applied to the rotor must be under the permissible

load.

(2) Excess of the permissible load can cause the bearing life to reduce and the rotor to break.

(3) The load indicated in this section is static load in a single direction and does not include eccentric load.

Make eccentric load as small as possible. Not doing so can cause the direct drive motor to be damaged.

2 - 4

2. DIRECT DRIVE MOTOR

2.3.5 Protection from oil and water

Provide adequate protection to prevent foreign matter, such as oil and water from entering the direct drive motor rotor. When installing the direct drive motor, consider the items in this section.

(1) Do not use the direct drive motor with its cable soaked in oil or water.

Cover

Direct drive motor

Oil/water pool

Capillary phenomenon

(2) Provide measures so that the direct drive motor is not exposed to oil and water entering from the machine

side, rotating table, etc.

Rotating table etc.

Lubricating oil

Direct drive motor

(3) If the direct drive motor is exposed to cutting fluid, etc., the sealant, packing, cable and others may be

affected depending on the fluid type.

(4) In the environment where the direct drive motor is exposed to oil mist, oil, water, grease and/or like, a

standard specification direct drive motor may not be usable. Provide measures to prevent dust and/or water on the machine side.

2 - 5

2. DIRECT DRIVE MOTOR

2.3.6 Inspection

Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P(

WARNING

electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. To avoid the risk of electric shock, only qualified personnel should attempt inspections. For repair, contact your local sales office.

CAUTION

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

It is recommended to make the following checks periodically.

(a) Check the direct drive motor bearings, etc. for unusual noise.

(b) Check the cables and the like for scratches and cracks. Especially when the junction cable is movable,

perform periodic inspection according to operating conditions.

(d) Check the power supply connector and encoder connector tightening for looseness.

2.3.7 Life

) and N( ) is safe with a voltage tester and others. Otherwise, an

The following parts must be replaced periodically as listed below. If any part is found faulty, it must be replaced immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your local sales office.

Parts name Guideline of life Remarks

Bearings 20,000 to 30,000 hours

Encoder 20,000 to 30,000 hours

Absolute position

storage unit (option)

Battery MR-J3BAT

(option)

20,000 to 30,000 hours

5,000 hours

(battery life with power off)

The Guideline of Life field gives the reference time. If any fault is found

before this time is reached, the parts must be replaced.

When the direct drive motor is run at rated speed under rated load, bearings should be exchanged in 20,000 to 30,000 hours as a guideline. This differs on the operating conditions. The bearings must also be replaced if unusual noise or vibration is found during inspection.

2 - 6

2. DIRECT DRIVE MOTOR

2.3.8 Machine accuracies

The following table indicates the machine accuracies of the direct drive motor around the rotor (output shaft) and mounting. (except the optional products)

Item Measured part Accuracy [mm]

Runout of flange surface about rotor (output shaft) a 0.05

Runout of fitting outer diameter of flange surface b 0.07

Runout of rotor (output shaft) c 0.04

Runout of rotor (output shaft) end d 0.02

Reference diagram

2.3.9 Flange surface size

The rated torque of the direct drive motor indicates the permissible continuous torque value that can be generated at the specific ambient temperature (0 to 40 aluminum surface shown in this table.

Flange surface

size [mm]

002C20

400 400 20 004C20

006C20

006E20

450 450 12 012E20

018E20

012G20

550 550 12 048G20

072G20

040J10

750 750 45 120J10

240J10

). The direct drive motor is installed on the specified

Direct drive motor

TM-RFM

2 - 7

2. DIRECT DRIVE MOTOR

2.4 Connectors used for direct drive motor wiring

POINT

The IP rating indicated is the connector's protection against ingress of dust and water when the connector is connected to a servo amplifier, direct drive motor and absolute position storage unit. If the IP rating of the connector, servo amplifier, direct drive motor and absolute position storage unit vary, the overall IP rating depends on the lowest IP rating of all components.

2.4.1 Selection of connectors

Use the connector configuration products given in the table as the connectors for connection with the direct drive motor. Refer to section 2.4.2 for the compatible connector configuration products.

Power supply connector Encoder connector

Servo amplifier side connector

Absolute position storage unit

Encoder side connector

MR-BTAS01

Wiring connector

Direct drive motor

TM-RFM C20

TM-RFM E20

TM-RFM G20 Connector configuration C

TM-RFM040J10

TM-RFM120J10

TM-RFM240J10 Connector configuration E

Note. This absolute position storage unit is required for configuring absolute position detection system.

For power supply For encoder

Connector configuration B

Connector configuration D

Connector configuration A Connector configuration A Connector configuration F

Absolute position storage unit (Option) (Note)

Servo amplifier side Encoder side

2 - 8

2. DIRECT DRIVE MOTOR

2.4.2 Wiring connectors (Connector configurations A

B C D E F)

Plug

Plug (Hirose Electric) Recommended cable (Bando Densen)

Connector

configuration

A IP67 Straight RM15WTPZK-12S JR13WCCA-8(72)

Feature

Type Plug Cord clamp Model name

clamp

Note 1. The connector to be mated.

Cord

2. Purchase from Toa Electric Industry Co. Ltd., Nagoya Branch

Plug Cable clamp

Plug (DDK) Cable clamp

Connector

configuration

Feature

4 to 8

IP67 EN compliant

8.3 to 11.3

General environment (Note 1)

Type Model name

CE05-6A14S-2SD-D

Straight

Applicable wire size: AWG 22 to 16

D/MS3106B14S-2S Applicable wire size: AWG 22 to 16

Note 1. Not comply with the EN.

2. The connector to be mated.

Cable clampPlug

20276 VSVPAWG#23×6P KB-0492 (Note 2)

Overall

diameter of

cable [mm]

(Reference)

8 to 12

5 to 8.3

7.9 or less

(bushing ID)

Overall

diameter of

cable [mm]

(Reference)

8.2 RM15WTRZB-12P(72)

Model name

ACS-08RL-MS14F (Nippon Flex)

ACS-12RL-MS14F (Nippon Flex)

YSO14-5 to 8 (Daiwa Dengyo)

YSO14-9 to 11 (Daiwa Dengyo)

D/MS3057-6A

Direct drive motor encoder

connector or absolute

position storage unit

connector

(servo amplifier side)

(Note 1)

Direct drive motor power

supply connector (Note 2)

CE05-2A14S-2PD-D

Connector

configuration

Feature

EN compliant

General environment (Note 1)

Note 1. Not comply with the EN.

2. The connector to be mated.

Plug (DDK) Cable clamp (DDK)

Type Model name

CE05-6A18-10SD-D-BSS

Straight

Applicable wire size: AWG 14 to 12

D/MS3106B18-10S Applicable wire size: AWG 14 to 12

2 - 9

Overall

diameter of

cable [mm]

(Reference)

8.5 to 11 CE3057-10A-2-D IP67

10.5 to 14.1 CE3057-10A-1-D

14.3 or less

(bushing ID)

Model name

D/MS3057-10A

Direct drive motor power

supply connector (Note 2)

CE05-2A18-10PD-D

2. DIRECT DRIVE MOTOR

Connector

configuration

Note 1. Not comply with the EN.

2. The connector to be mated.

Feature

EN compliant

General environment (Note 1)

Type Model name

Straight

Cable clampPlug

Plug (DDK) Cable clamp (DDK)

Overall

diameter of

cable [mm]

(Reference)

CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8

D/MS3106B22-22S Applicable wire size: AWG 10 to 8

Cable clampPlug

9.5 to 13 CE3057-12A-2-D IP67

12.5 to 16 CE3057-12A-1-D

15.9 or less

(bushing ID)

Model name

D/MS3057-12A

Direct drive motor power

supply connector (Note 2)

CE05-2A22-22PD-D

Plug (DDK) Cable clamp (DDK)

Connector

configuration

Feature

IP67 EN compliant

General environment (Note 1)

Type Model name

CE05-6A32-17SD-D-BSS

Straight

Applicable wire size: AWG 6 to 4

D/MS3106B32-17S Applicable wire size: AWG 6 to 4

Note 1. Not comply with the EN.

2. The connector to be mated.

Cord

Plug

Plug (Hirose Electric)

Connector

configuration

F IP67 Straight RM15WTPZ-12P(72) JR13WCCA-8(72)

Feature

Type Plug Cord clamp Model name

clamp

Note 1. The connector to be mated.

2. Purchase from Toa Electric Industry Co. Ltd., Nagoya Branch

diameter of

(Reference)

23.8 or less

(bushing ID)

20276 VSVPAWG#23×6P KB-0492 (Note 2)

Overall

cable [mm]

22 to 23.8 CE3057-20A-1-D

Recommended cable

(Bando Densen)

Model name

D/MS3057-20A

Overall

diameter of

cable [mm]

(Reference)

8.2 RM15WTRZB-12S(72)

Direct drive motor power

connector (Note 2)

CE05-2A32-17PD-D

Absolute position storage

unit connector

(encoder side) (Note 1)

2 - 10

2. DIRECT DRIVE MOTOR

2.4.3 Connector outline drawings

The connector outline drawings for wiring the direct drive motor are shown below.

(1) Hirose Electric

(a) RM15WTPZK-12S

RM15WTPZ-12P(72)

Model Connector configuration (Note)

RM15WTPZK-12S A

RM15WTPZ-12P(72) F

Note. For the connector configuration, refer to section 2.4.2.

Spanner hook gap dimension: 18

M16 0.75M19 1

[Unit: mm]

(b) JR13WCCA-8(72)

For the connector configuration, refer to the connector configuration A and F of section 2.4.2.

(2) DDK

(a) CE05-6A14S-2SD-D

For the connector configuration, refer to the connector configuration B of section 2.4.2.

36.3

Spanner hook gap dimension: 17

Positioning key

7/8-20UNEF-2B

M16 0.75

7.5

(13.2)

[Unit: mm]

3/4-20UNEF-2A

24.0 1

5.6 0.1

8.46 0.5

2 - 11

2. DIRECT DRIVE MOTOR

(b) CE05-6A18-10SD-D-BSS

CE05-6A22-22SD-D-BSS CE05-6A32-17SD-D-BSS

Positioning key

[Unit: mm]

Model A B

CE05-6A18-10SD-D-BSS 1 1/8-18UNEF-2B 34.13 32.1 57 1-20UNEF-2A C

CE05-6A22-22SD-D-BSS 1 3/8-18UNEF-2B 40.48 38.3 61 1 3/16-18UNEF-2A D

CE05-6A32-17SD-D-BSS 2-18UNS-2B 56.33 54.2 79 1 3/4-18UNS-2A E

Note. For the connector configuration, refer to section 2.4.2.

C 0.8 D or less W

0.38

Connector configuration

CE3057-10A-2-D CE3057-12A-1-D CE3057-12A-2-D CE3057-20A-1-D

V-Thread

(D)

A 0.7

1.5

(Bushing inner diameter)

G 0.7

(Bushing outer diameter)

(Note)

[Unit: mm]

Model

CE3057-

10A-1-D

CE3057-

10A-2-D

CE3057-

12A-1-D

CE3057-

12A-2-D

CE3057-

20A-1-D

Note. For the connector configuration, refer to section 2.4.2.

Applicable

shell size

18 23.8 30.1 10.3 (41.3) 15.9

22 23.8 35 10.3 (41.3) 19

32 27.8 51.6 11.9 (43.0) 32.0 23.8 51.6 1 3/4-18UNS-2B CE3420-20-1 22.0 to 23.8 E

A B C (D) E F G V

14.1 CE3420-10-1 10.5 to 14.1

11.0

16.0 CE3420-12-1 12.5 to 16

13.0

31.7 1-20UNEF-2B

1 3/16-18UNEF-

37.3 2B

2 - 12

Enclosed

bushing type

CE3420-10-2 8.5 to 11

CE3420-12-2 9.5 to 13

Range of

applicable cables

(Reference)

Connector

configuration

(Note)

2. DIRECT DRIVE MOTOR

(d) D/MS3106B14S-2S

D/MS3106B18-10S D/MS3106B22-22S D/MS3106B32-17S

Y or less

[Unit: mm]

L or less

J 0.12

D/MS3106B14S-2S 7/8-20UNEF 13.49 42.88 28.57 3/4-20UNEF 8.00 30 B D/MS3106B18-10S 1 1/8-18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42 C D/MS3106B22-22S 1 3/8-18UNEF 18.26 56.57 40.48 1 3/16-18UNEF 9.53 50 D D/MS3106B32-17S 2-18UNS 18.26 61.92 56.33 1 3/4-18UNS 11.13 66 E

Note. For the connector configuration, refer to section 2.4.2.

(e) D/MS3057-6A

D/MS3057-10A D/MS3057-12A D/MS3057-20A

Model name A J L Q V W Y

A 0.7

Effective thread length C

1.6

B 0.7

E (Bushing inner diameter)

D (Cable clamp inner diameter)

G 0.7

Connector

configuration

(Note)

[Unit: mm]

Model name Shell size A B C D E G V Bushing

D/MS3057-6A 14S 22.2 24.6 10.3 11.2 7.9 27.0 3/4-20UNEF AN3420-6 B D/MS3057-10A 18 23.8 30.1 10.3 15.9 14.3 31.7 1-20UNEF AN3420-10 C D/MS3057-12A 22 23.8 35.0 10.3 19.0 15.9 37.3 1 3/16-18UNEF-2A AN3420-12 D D/MS3057-20A 32 27.8 51.6 11.9 31.7 23.8 51.6 1 3/4-18UNS AN3420-20 E

Note. For the connector configuration, refer to section 2.4.2.

Connector

configuration

(Note)

2 - 13

2. DIRECT DRIVE MOTOR

(3) Daiwa Dengyo

[Unit: mm]

O-ring

across flats D

Hexagonal width

across corners D1

across flats D2

Hexagonal width

across corners D3

Model name

Applicable

cable OD

YSO14-5 to 8 4 to 8.3 YSO14-9 to 11 7 to 11.3

Length before

tightening

Width

across

flats

3/4-20UNEF-2B 44 23 25 26 28 B

Width

across

corners

Width

across

flats

Width

across

corners

Note. For the connector configuration, refer to the section 2.4.2.

(4) Nippon Flex

(Note 1)

(Note 1) L1

A15

(1)

(2)

E' × F' × G'

Model name Screw C

ACS-08RLMS14F

ACS-12RLMS14F

3/4-20UNEF-2B 4.0 to 8.0 7 15.0 20 22.0 6 22 24.2 6 46 41

3/4-20UNEF-2B 8.0 to 12.0 7 15.0 24 26.4 6 36 28.6 6 46 41

Applicable

cable OD

Screw C

A d

Tightening nut Nipple body

Two-

face

width

Width

across

corners

Number

corners

E' Twoface

width

Width

across

corners

Number

corners

L L1

Note 1. (1) Indicates the reference dimension before assembling, and (2) indicates the reference dimension after assembling.

2. For the connector configuration, refer to section 2.4.2.

Connector

configuration

(Note)

[Unit: mm]

Connector

configuration

(Note 2)

2 - 14

2. DIRECT DRIVE MOTOR

2.5 TM-RFM series direct drive motor

This section provides information on the specifications and characteristics of the direct drive motor. When using the TM-RFM series direct drive motor, always read the Safety Instructions in the beginning of this manual in addition to this section.

2.5.1 Model code definition

The following describes what each block of a model name indicates. Note that not all the combinations of the symbols exist.

Appearance

Series name

Rated speed

Symbol Rated speed [r/min]

10 100 20 200

Motor outer diameter (Frame dimensions)

Symbol

Rated torque

Symbol

002 2 004 4 006 6 012 12 018 18 040 40 048 48 072 72 120 120 240 240

Dimensions [mm] C130 E180 G230

J330

Rated torque [N m]

Z-phase mark

2 - 15

2. DIRECT DRIVE MOTOR

2.5.2 Specification list

TM-RFM series Direct drive motor

Item

Motor outer diameter (Frame dimensions) [mm] 130 180

Compatible servo amplifier model MR-J3- -RJ080W 20B 40B 60B 60B 70B 100B

Continuous running

duty (Note 1)

Rated speed (Note 1) [r/min] 200

Maximum speed [r/min] 500

Instantaneous permissible speed [r/min] 575

Maximum torque

Power rate at continuous rated torque [kW/s] 3.7 9.6 16.1 4.9 12.9 21.8

Inertia moment

Recommended ratio of load inertia moment to direct

drive motor rotor inertia moment (Note 2)

Absolute accuracy [s] 15 12.5

Power supply capacity (Note 3) [kVA] 0.25 0.38 0.53 0.46 0.81 1.3

Rated current [A] 1.3 2.1 3.1 3.1 3.8 5.9

Maximum current [A] 3.9 6.3 9.3 9.3 12 18

Speed/position detector (Note 4)

Insulation class Class F

Structure Totally enclosed, natural cooling (IP rating : IP42 (Note 5))

Environmental

conditions (Note 6)

Vibration rank (Note 8) V-10

Permissible load for the

rotor (Note 9)

Mass

Rated output [W] 42 84 126 126 251 377

Rated torque

J [ 10-4kg m2] 10.9 16.6 22.4 74 111 149

Ambient

temperature

humidity

Ambience

Altitude Max.1000m above sea level

Vibration resistance

(Note 7)

Operation

Storage

Operation 80 RH or less (non-condensing) Ambient

Storage 90

Moment load

Axial load [N] 1100 3300

[N m] 2 4 6 6 12 18

[oz

[N m] 6 12 18 18 36 54

[oz

[oz in2] 59.6 90.8 122 405 607 815

[m/s

[N m] 22.5 70

[oz

002C20 004C20 006C20 006E20 012E20 018E20

in] 283 566 850 850 1700 2550

in] 850 1700 2550 2550 5100 7650

50 times or less

Encoder common to absolute position and incremental detection systems

(Resolution per direct drive motor 1 rotation: 1048576pulse/rev)

[ ] 0 to 40 (non-freezing)

[

] 32 to 104 (non-freezing)

[ ] 15 to 70 (non-freezing)

[

] 5 to 158 (non-freezing)

RH or less (non-condensing)

Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust or splash of oil or water.

] X: 49 Y: 49

in] 3190 9910

[kg] 5.2 6.8 8.4 11 15 18

[lb] 12 15 19 25 33 40

2 - 16

2. DIRECT DRIVE MOTOR

TM-RFM series Direct drive motor

Item

Motor outer diameter (Frame dimensions) [mm] 230 330

Compatible servo amplifier model MR-J3- -RJ080W 70B 350B 350B 70B 350B 500B

Continuous running

duty (Note 1)

Rated speed (Note 1) [r/min] 200 100

Maximum speed [r/min] 500 200

Instantaneous permissible speed [r/min] 575 230

Maximum torque

Power rate at continuous rated torque [kW/s] 6.0 37.5 59.3 9.4 40.9 91.4

Inertia moment

Recommended ratio of load inertia moment to direct

drive motor rotor inertia moment (Note 2)

Absolute accuracy [s] 12.5 10

Power supply capacity (Note 3) [kVA] 0.71 2.7 3.8 1.2 3.4 6.6

Rated current [A] 3.4 10.9 16 4.3 11 20

Maximum current [A] 10 33 48 13 33 60

Speed/position detector (Note 4)

Insulation class Class F

Structure Totally enclosed, natural cooling (IP rating: IP42 (Note 5))

Environmental

conditions (Note 6)

Vibration rank (Note 8) V-10

Permissible load for the

rotor (Note 9)

Mass

Rated output [W] 251 1005 1508 419 1257 2513

Rated torque

J [ 10-4kg m2] 238 615 875 1694 3519 6303

Ambient

temperature

humidity

Ambience

Altitude Max.1000m above sea level

Vibration resistance

(Note 7)

Operation

Storage

Operation 80 RH or less (non-condensing) Ambient

Storage 90

Moment load

Axial load [N] 5500 16000

[N m] 12 48 72 40 120 240

[oz

[N m] 36 144 216 120 360 720

[oz

[oz in2] 1300 3360 4780 9260 19200 34500

[m/s

[N m] 93 350

[oz

012G20 048G20 072G20 040J10 120J10 240J10

in] 1700 6800 10200 5660 17000 34000

in] 5100 20400 30600 17000 51000 102000

50 times or less

Encoder common to absolute position and incremental detection systems

(Resolution per direct drive motor 1 rotation: 1048576pulse/rev)

[ ] 0 to 40 (non-freezing)

[

] 32 to 104 (non-freezing)

[ ] 15 to 70 (non-freezing)

[

] 5 to 158 (non-freezing)

RH or less (non-condensing)

Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust or splash of oil or water.

] X: 49 Y: 49 X: 24.5 Y: 24.5

in] 13200 49600

[kg] 17 36 52 53 91 146

[lb] 38 80 115 120 205 325

2 - 17

2. DIRECT DRIVE MOTOR

Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.

2. If the load inertia moment ratio exceeds the indicated value, please contact your local sales office.

3. Note that the power supply equipment capacity will vary according to the power supply impedance. This value assumes that the

power factor improving AC reactor or the power factor improving DC reactor is not used.

4. Optional battery (MR-J3BAT) and absolute position storage unit (MR-BTAS01) are required for absolute position detection system.

5. Connectors and gap between rotor and stator are excluded.

6. In the environment where the direct drive motor is exposed to oil mist, oil and/or water, a standard specification direct drive motor

may not be usable. Take dustproof and waterproof measures on the machine side.

7. The vibration direction is shown in the diagram. The numeric value indicates the maximum value of the component (commonly the

bracket in the opposite direction of the direct drive motor rotor (output shaft)). Fretting of the bearing occurs easily when the motor

stops, so maintain vibration to approximately one-half of the allowable value.

8. V-10 indicates that the amplitude of a single direct drive motor is 10 m or less. The following figure shows the direct drive motor

installation position for measurement and the measuring position.

Measuring position

9. The following is calculation examples of axial and moment loads to the rotor (output shaft). The axial and moment loads must be

maintained equal to or below the permissible value.

F (Outer force)

Axial load

F load mass

Axial load

F load mass

Moment load

F L

F (Outer force)

Bearing

Axial load

Moment load

load mass

F (L A)

Direct drive motor

TM-RFM002C20 to

006C20

TM-RFM006E20 to

018E20

TM-RFM012G20

to 072G20

TM-RFM040J10 to

240J10

Motor outer

diameter [mm]

(Frame dimensions)

130 19.1

180 20.2

230 24.4

330 32.5

Dimen-

sion A

[mm]

2 - 18

2. DIRECT DRIVE MOTOR

2.5.3 Torque characteristic

POINT

When using a machine which generates unbalanced torque including a vertical axis, use an absolute position detection system (Rrefer to section 2.3.1 (4)). It is recommended that the unbalanced torque is 70% or less of the rated torque.

When the power supply input of the servo amplifier are 3-phase 200VAC or 1-phase 230VAC, the torque characteristic is indicated by the heavy line. For the 1-phase 200VAC power supply, part of the torque characteristic is indicated by the thin line. The 1-phase power supply input is applicable to the TM-RFM002C20, TM-RFM004C20, TM-RFM006C20, TM-RFM006E20, TM-RFM012E20, TM-RFM012G20 and TM-RFM040J10.

[TM-RFM002C20]

[TM-RFM004C20]

[TM-RFM006C20]

[TM-RFM006E20]

Short-duration

running range

Torque [N•m]

Continuous running range

100 200 300 400 500

Speed [r/min]

[TM-RFM012E20]

Short-duration

running range

Torque [N•m]

Continuous running range

0 100 200 300 400 500

Speed [r/min]

Short-duration

running range

Torque [N•m]

Continuous running range

0 100 200 300 400 500

Speed [r/min]

[TM-RFM018E20]

Short-duration running range

Torque [N•m]

Continuous running range

0 100 200 300 400 500

Speed [r/min]

Short-duration

running range

Torque [N•m]

Continuous running range

0 100 200 300 400 500

Speed [r/min]

[TM-RFM012G20]

Short-duration

running range

Torque [N•m]

Continuous running range

0 100 200 300 400 500

Speed [r/min]

Short-duration

running range

Torque [N•m]

Continuous running range

0 100 200 300 400 500

Speed [r/min]

[TM-RFM048G20]

160

120

Short-duration

running range

Torque [N•m]

Continuous running range

0 100 200 300 400 500

Speed [r/min]

[TM-RFM072G20]

240

180

Short-duration running range

120

Torque [N•m]

Continuous running range

0 100 200 300 400 500

Speed [r/min]

[TM-RFM040J10]

140

120

Short-duration running range

Torque [N•m]

Continuous running range

0 100 200

Speed [r/min]

[TM-RFM120J10]

400

300

Short-duration

running range

200

Torque [N•m]

100

Continuous running range

0 100 200

Speed [r/min]

[TM-RFM240J10]

800

600

Short-duration

running range

400

Torque [N•m]

200

Continuous running range

0 100 200

Speed [r/min]

2 - 19

2. DIRECT DRIVE MOTOR

2.5.4 Outline dimension drawings

The actual dimensions may be 1mm to 3mm larger. Design the machine side with some allowances. Apply general tolerances for the dimensions without tolerances.

Model

Output

[W]

TM-RFM002C20 42 10.9 (59.6) 5.2 (12)

4- 9 mounting hole Use hexagon socket head cap screw

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Mass

[kg] ([lb])

[Unit: mm]

6-M5 screw depth 8

Encoder connector RM15WTRZB-12P(72)

Arrow B

Power supply connector CE05-2A14S-2PD-D

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

Z-phase mark

Top

Bottom

Motor plate

BC36496A

2 - 20

2. DIRECT DRIVE MOTOR

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Mass

[kg] ([lb])

Model

Output

[W]

TM-RFM004C20 84 16.6 (90.8) 6.8 (15)

[Unit: mm]

4- 9 mounting hole Use hexagon socket head cap screw

6-M5 screw depth 8

Encoder connector

RM15WTRZB-12P(72)

Arrow B

Power supply connector CE05-2A14S-2PD-D

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

Z-phase mark

Top

Bottom

Motor plate

BC36497A

2 - 21

2. DIRECT DRIVE MOTOR

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Mass

[kg] ([lb])

Model

Output

[W]

TM-RFM006C20 126 22.4 (122) 8.4 (19)

[Unit: mm]

4- 9 mounting hole Use hexagon socket head cap screw

6-M5 screw depth 8

Encoder connector

RM15WTRZB-12P(72)

Arrow B

Power supply connector CE05-2A14S-2PD-D

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

Z-phase mark

Top

Motor plate

BC35566B

2 - 22

2. DIRECT DRIVE MOTOR

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Mass

[kg] ([lb])

Model

Output

[W]

TM-RFM006E20 126 74.0 (405) 11 (25)

[Unit: mm]

4- 14 mounting hole Use hexagon socket head cap screw

6-M5 screw depth 8

Encoder connector RM15WTRZB-12P(72)

Arrow B

Power supply connector CE05-2A14S-2PD-D

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

Top

Motor plate

Z-phase mark

BC36498A

2 - 23

2. DIRECT DRIVE MOTOR

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Mass

[kg] ([lb])

Model

Output

[W]

TM-RFM012E20 251 111 (607) 15 (33)

[Unit: mm]

4- 14 mounting hole Use hexagon socket head cap screw

6-M5 screw depth 8

Encoder connector RM15WTRZB-12P(72)

Arrow B

Power supply connector CE05-2A14S-2PD-D

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

Top

Motor plate

Z-phase mark

BC36499A

2 - 24

2. DIRECT DRIVE MOTOR

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Mass

[kg] ([lb])

Model

Output

[W]

TM-RFM018E20 377 149 (815) 18 (40)

[Unit: mm]

4- 14 mounting hole Use hexagon socket head cap screw

6-M5 screw depth 8

Encoder connector

RM15WTRZB-12P(72)

Arrow B

Power supply connector CE05-2A14S-2PD-D

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

Top

Z-phase mark

Motor plate

BC35508C

2 - 25

2. DIRECT DRIVE MOTOR

Encoder connector RM15WTRZB-12P(72)

2 2-M10 screw depth 19.5

Power supply connector CE05-2A18-10PD-D

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Model

Output

[W]

TM-RFM012G20 251 238 (1300) 17 (38)

4- 14 mounting hole Use hexagon socket head cap screw

Top

Caution plate

(Earth)

Bottom

Motor plate

Mass

[kg] ([lb])

[Unit: mm]

6-M6 screw depth 10

Z-phase mark

Power supply connector arrangement Output shaft side

Arrow B

BC36599*

2 - 26

2. DIRECT DRIVE MOTOR

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Mass

[kg] ([lb])

Model

Output

[W]

TM-RFM048G20 1005 615 (3360) 36 (80)

[Unit: mm]

Encoder connector RM15WTRZB-12P(72)

Arrow B

2 2-M10 screw depth 19.5

Power supply connector CE05-2A18-10PD-D

4- 14 mounting hole Use hexagon socket head cap screw

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

6-M6 screw depth 10

Bottom

Z-phase mark

Motor plate

BC36503A

2 - 27

2. DIRECT DRIVE MOTOR

2 2-M10 screw depth 19.5

230

Encoder connector RM15WTRZB-12P(72)

Power supply connector CE05-2A18-10PD-D

206h7

TM-RFM072G20 1508 875 (4780) 52 (115)

Top

Bottom

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

Model

4- 14 mounting hole Use hexagon socket head cap screw

Output

[W]

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Motor plate

Mass

[kg] ([lb])

[Unit: mm]

6-M6 screw depth 10

TOP

Z-phase mark

Bottom

Arrow B

BC35567A

2 - 28

2. DIRECT DRIVE MOTOR

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Mass

[kg] ([lb])

Model

Output

[W]

TM-RFM040J10 838 1694 (9260) 53 (120)

[Unit: mm]

Encoder connector RM15WTRZB-12P(72)

Arrow B

2 2-M12 screw depth 25.5

Power supply connector CE05-2A22-22PD-D

4- 18 mounting hole Use hexagon socket head cap screw

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

Top

Bottom

Motor plate

6-M8 screw depth 13

Z-phase mark

BC36505*

2 - 29

2. DIRECT DRIVE MOTOR

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Mass

[kg] ([lb])

Model

Output

[W]

TM-RFM120J10 2513 3519 (19200) 91 (205)

[Unit: mm]

Encoder connector RM15WTRZB-12P(72)

Arrow B

2 2-M12 screw depth 25.5

Power supply connector CE05-2A22-22PD-D

4- 18 mounting hole Use hexagon socket head cap screw

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

Top

Bottom

Motor plate

6-M8 screw depth 13

Z-phase mark

BC36507*

2 - 30

2. DIRECT DRIVE MOTOR

Inertia moment

J [

10-4kg m2]

(WK

[oz in2])

Mass

[kg] ([lb])

Model

Output

[W]

TM-RFM240J10 5027 6303 (34500) 146 (325)

[Unit: mm]

Encoder connector RM15WTRZB-12P(72)

Arrow B

2 2-M12 screw depth 25.5

Power supply connector CE05-2A32-17PD-D

Caution plate

(Earth)

Power supply connector arrangement Output shaft side

4- 18 mounting hole Use hexagon socket head cap screw

Top

Bottom

Motor plate

6-M8 screw depth 13

Z-phase mark

BC36705*

2 - 31

2. DIRECT DRIVE MOTOR

2.5.5 Connection of servo amplifier and direct drive motor

Any person who is involved in wiring should be fully competent to do the work. Ground the direct drive motor securely. Do not attempt to wire the direct drive motor until it has been installed. Otherwise, it

WARNING

CAUTION

may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connection areas of the power supply terminals.

Wire the equipment correctly and securely. Otherwise, the direct drive motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option) on the power line of the direct drive motor. Do not modify the equipment. Connect the servo amplifier power output (U, V, and W) to the direct drive 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 amplifier Direct drive motorDirect drive motor

2 - 32

2. DIRECT DRIVE MOTOR

(1) Connection instructions

To avoid a malfunction, connect the power supply phases (U, V, and W) of the servo

CAUTION

This section explains the connection of the direct drive motor power (U, V, and W). Use of the optional connector is recommended for connection between the servo amplifier and direct drive motor. Refer to chapter 9 for details of the options. For grounding, connect the grounding lead wire from the direct drive motor to the protective earth (PE) terminal of the servo amplifier, and then connect the wire from the servo amplifier to the ground via the protective earth of the cabinet. Do not connect the wire directly to the protective earth of the cabinet.

amplifier and the direct drive motor correctly. Do not connect AC power supply directly to the direct drive motor. Otherwise, it may cause a malfunction.

POINT

Refer to chapter 9 for the encoder cable.

Cabinet

Servo

amplifier

PE terminal

Note. The number of PE terminals of the servo amplifier differs depending on the amplifier

type.

(2) Direct drive motor power cable wiring diagram

Fabricate a cable as shown below. Refer to section 3.2.1 for the wires used for the cable.

U V

(Note)

Direct drive motor

30m or less

Direct drive motorServo amplifier

2 - 33

2. DIRECT DRIVE MOTOR

MEMO

2 - 34

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off

WARNING

or not. Ground the servo amplifier and the direct drive motor securely. Do not attempt to wire the servo amplifier and direct drive motor until they have been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.

Wire the equipment correctly and securely. Otherwise, the direct drive motor may operate unexpected, 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 on the DC output signal relay must be wired in the specified direction. Otherwise, the forced stop (EM1) and other protective circuits may not operate.

) and N( ) is safe with

CAUTION

Servo amplifier

DOCOM

Control output signal

DICOM

For sink output interface

24VDC

Servo amplifier

24VDC

DOCOM

Control output signal

DICOM

For source output interface

Electromagnetic interference may be given to electronic equipment used near the servo amplifier. Use a noise filter, etc. to minimize the influence of electromagnetic interference. Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option) with the power line of the direct drive 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 supply output (U, V, and W) to the direct drive motor power supply input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

Direct drive motor

Servo amplifier Direct drive motor

3 - 1

3. SIGNALS AND WIRING

3.1 Precautions for this chapter

The following items are not described in this chapter. Since these descriptions are the same as those of MRJ3-

B Servo Amplifier, refer to the MR-J3- B Servo Amplifier Instruction Manual.

Item MR-J3- B Servo Amplifier Instruction Manual

Explanation of power supply system Section 3.3

Signal (device) explanations Section 3.5

Alarm occurrence timing chart Section 3.6

Interfaces Section 3.7 (excluding the internal connection diagram)

Treatment of cable shield external conductor Section 3.8

SSCNET cable connection Section 3.9

Grounding Section 3.12

Control axis selection Section 3.13

3.2 Input power supply circuit

Always connect a magnetic contactor between the power supply and the main circuit power supply (L to be able to shut 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

Use malfunction (ALM) to switch main circuit power supply off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. Check the model and input the correct voltage for the power supply of the servo amplifier. When a voltage, which exceeds the maximum input voltage of the servo amplifier specifications, is input, the servo amplifier malfunctions.

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 direct drive motor stops with starting dynamic brake. For details of each signal, refer to section 3.3 of the MR-J3- B Servo Amplifier Instruction Manual. Connect the direct drive motor power terminal (U, V, and W) to the direct drive motor power input terminal (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

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.

, L2, and L3) of the servo amplifier, and configure the wiring

communication is interrupted.

Direct drive motor

Servo amplifier Direct drive motor

3 - 2

3. SIGNALS AND WIRING

3.2.1 Selection example of wires

POINT

Selection condition of wire size is as follows.

Construction condition: One wire is constructed in the air Wire length: 30m or less

(1) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)

Selection example of wire size when using HIV wires is indicated below.

Table 3.1 Wire size selection example 2 (HIV wire)

Servo amplifier

MR-J3-20B-RJ080W

MR-J3-40B-RJ080W

MR-J3-60B-RJ080W 2(AWG14) 1.25(AW G16)

MR-J3-70B-RJ080W

MR-J3-100B-RJ080W

MR-J3-350B-RJ080W 3.5(AWG12) 3.5(AWG12)

MR-J3-500B-RJ080W (Note 2) 5.5(AWG10): a 1.25(AWG16): b 5.5(AWG10): a 2(AWG14): c

Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (3) in this

section.

2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block.

3. Wires are selected based on the highest rated current among combining direct drive motors.

(2) Selection example of crimping terminals

Selection example of crimping terminals for the servo amplifier terminal box when using the wires mentioned in table 3.1 in this section is indicated below.

Servo amplifier side crimping terminals

Symbol Applicable tool

a FVD5.5-4 YNT-1210S

b FVD2-M3

c FVD2-4

Note. Some crimping terminals may not be mounted depending on the size. Make sure to

use the recommended ones or equivalent ones.

Wires [mm2] (Note 1, 3)

1 L2 L3 L11 L21 UV W PC

(Note)

Crimping terminal

1.25(AWG16)

Body

YNT-1614

Manufacturer

Japan Solderless

Terminals

2(AWG14)

3 - 3

3. SIGNALS AND WIRING

3.2.2 Connection example

(1) For 3-phase 200 to 230VAC power supply to MR-J3-20B-RJ080W to MR-J3-100B-RJ080W

MR-J3-350B-RJ080W

3-phase 200 to 230VAC

MCCB

(Note 3)

Malfunct

RA1

ion

Controller

forced stop

(Note 6)

Forced stop

RA2

MC (Note 8)

(Note 1)

(Note 2)

OFF

Servo amplifier

CNP1

N( )

CNP2

P( )

(Note 7)

L21

CNP3

CN2

(Note 5)

Encoder cable

Direct drive motor

Motor

Encoder

(Note 4)

Forced stop (Note 6)

EM1

DOCOM

CN3CN3

DOCOM

DICOM

ALM

24VDC

RA1

Malfunction

(Note 4)

(Note 3)

Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to chapter 11 of the MR-J3-

B Servo Amplifier Instruction Manual. Use either the power factor improving DC reactor or the power factor improving AC reactor.

2. Always connect P(

) and D. (Factory-wired.) When using the regenerative option, refer to chapter 11 of the MR-J3- B Servo

Amplifier Instruction Manual.

3. If deactivating output of malfunction (ALM) with parameter change, configure up the power supply circuit which switches off the

magnetic contactor after detection of alarm occurrence on the controller side.

4. For sink I/O interface. For source I/O interface, refer to section 3.7.3 of the MR-J3-

B Servo Amplifier Instruction Manual.

5. For details of connection of the servo amplifier and direct drive motor, refer to section 2.5.5.

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 connector detects speed, position and temperature of the direct drive motor. (Refer to chapter 9.)

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 magnetic coil until closure of contacts.

3 - 4

3. SIGNALS AND WIRING

(2) For 1-phase 200 to 230VAC power supply to MR-J3-20B-RJ080W to MR-J3-70B-RJ080W

1-phase 200 to 230VAC

(Note 4)

MCCB

Forced stop (Note 6)

(Note 3)

Malfunction

RA1

Controller

forced stop

(Note 1)

(Note 2)

(Note 6)

Forced stop

RA2

MC (Note 8)

OFF

Servo amplifier

CNP1

CNP3

CNP2

(Note 7)

CN2

L11

L21

CN3 CN3

EM1

DOCOM

DICOM

ALM

(Note 5)

Encoder cable

24VDC

RA1

Direct drive motor

Motor

Encoder

Malfunction

(Note 3)

(Note 4)

Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to chapter 11 of the MR-J3-

B Servo Amplifier Instruction Manual. Use either the power factor improving DC reactor or the power factor improving AC reactor.

2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to chapter 11 of the MR-J3-

B Servo

Amplifier Instruction Manual.

3. If deactivating output of malfunction (ALM) with parameter change, configure up the power supply circuit which switches off the

magnetic contactor after detection of alarm occurrence on the controller side.

4. For sink I/O interface. For source I/O interface, refer to section 3.7.3 of the MR-J3-

B Servo Amplifier Instruction Manual.

5. For details of connection of the servo amplifier and direct drive motor, refer to section 2.5.5.

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 connector detects speed, position and temperature of the direct drive motor. (Refer to chapter 9.)

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 magnetic coil until closure of contacts.

3 - 5

3. SIGNALS AND WIRING

(3) MR-J3-500B-RJ080W

3-phase 200 to

230VAC

MCCB

(Note 3)

Malfunction

RA1

(Note 6)

Forced stop

RA2

Controller

forced stop

MC (Note 8)

(Note 2)

(Note 1)

OFF

Servo amplifier

TE1

Built-in

regenerative

resistor

TE2

TE3

(Note 7)

CN2

(Note 5)

Encoder cable

Direct drive motor

Motor

Encoder

(Note 4)

Forced stop (Note 6)

CN3 CN3

EM1

DOCOM

DICOM

ALM

24VDC

RA1

Malfunction

(Note 4)

(Note 3)

Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to chapter 11 of the MR-J3-

B Servo Amplifier Instruction Manual. Use either the power factor improving DC reactor or the power factor improving AC reactor.

2. When using the regenerative option, refer to chapter 11 of the MR-J3-

B Servo Amplifier Instruction Manual.

3. If deactivating output of malfunction (ALM) with parameter change, configure up the power supply circuit which switches off the

magnetic contactor after detection of alarm occurrence on the controller side.

4. For sink I/O interface. For source I/O interface, refer to section 3.7.3 of the MR-J3-

B Servo Amplifier Instruction Manual.

5. For details of connection of the servo amplifier and direct drive motor, refer to section 2.5.5.

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 connector detects speed, position and temperature of the direct drive motor. (Refer to chapter 9.)

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 magnetic coil until closure of contacts.

3 - 6

3. SIGNALS AND WIRING

3.3 I/O signal connection example

POINT

For details of each signal, refer to chapter 3 of the MR-J3- B Servo Amplifier Instruction Manual.

(Note 14)

(Note 15)

(Note 5) MR Configurator

Upper stroke limit (FLS) Lower stroke limit (RLS) Proximity dog (DOG)

(Note 3, 4) Forced stop

Personal

computer

DICOM

DOCOM

EM1

DI1 DI2 DI3

Servo am plifier

(Note 12)

CN3

12 19

5 3

CN5

CN3

13 MBR

9INP

15 ALM

6LA

16 LAR

7LB

17 LBR

8LZ 18 LZR 11 LG

DICOM

10m or less 10m or less

(Note 10)

24VDC

USB cable

MR-J3USBCBL3M

(option)

(Note 2)

RA1

RA2

RA3

Magnetic brake interlock

In-position

Malfunction

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Encoder Z-phase pulse (differential line driver)

Control common

(Note 16)

(Note 11)

(Note 13, 14)

Servo system

controller

(Note 6) SSCNET cable (option)

1LG 14 MO2

Plate

CN1A

SW1

SW2

CN1B

MR-J3-B-RJ080W

(2 axis)

SW1

CN1A

SW2

CN1B

MR-J3-B-RJ080W

(3 axis)

SW1

CN1A

SW2

CN1B

MO1

2m or less

(Note 8)

(Note 1)

(Note 7)

(Note 8)

(Note 7)

(Note 8)

Analog monitor 1

Analog monitor 2

(Note 9) Cap

MR-J3-B-RJ080W

(n axis)

CN1A

CN1B

SW1

SW2

(Note 7)

(Note 8)

3 - 7

3. SIGNALS AND WIRING

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

(PE) of the cabinet.

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 forced stop (EM1) and other protective circuits.

3. If the controller does not have an forced stop (EM1) function, always install a forced stop switch (Normally closed contact).

4. When starting operation, always turn on the forced stop (EM1). (Normally closed contact) By setting "

No.PA04 of the servo amplifier, the forced stop (EM1) can be made invalid.

5. Use MRZJW3-SETUP 221E (Software version is C2 or later). (Refer to section 11.8 of the MR-J3-

Manual)

6. Use SSCNET

cables listed in the following table.

Cable Cable model name Cable length

Standard cord inside panel MR-J3BUS M 0.15m to 3m

Standard cable outside panel MR-J3BUS M-A 5m to 20m

Long-distance cable MR-J3BUS M-B 30m to 50m

7. The wiring of the second and subsequent axis is omitted.

8. Up to 16 axes may be connected. Refer to section 3.13 of the MR-J3-

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) of the MR-J3-

Amplifier Instruction Manual that gives the current value necessary for the interface.

11. Malfunction (ALM) turns on in normal alarm-free condition (Normally closed contacts).

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

13. The signal can be changed by parameter No.PD07, PD08, PD09.

14. For sink I/O interface. For source I/O interface, refer to section 3.7.3 of the MR-J3-

15. Devices can be assigned for DI1

instruction manual. The assigned devices are for the Q173DCPU, Q172DCPU, Q170MCPU, LD77MH

QD75MH

16. Electromagnetic brake interlock (MBR) is useful when setting up an external brake system.

10 150mA current for interfaces from the outside. 150mA is the value applicable when all I/O signals are used.

DI2 DI3 with controller setting. For devices that can be assigned, refer to the controller

CN1B.

B Servo Amplifier Instruction Manual for setting of axis

B Servo Amplifier Instruction Manual.

1 " in the parameter

B Servo Amplifier Instruction

B Servo

,QD74MH and

3 - 8

3. SIGNALS AND WIRING

3.4 Connector and signal arrangements

POINT

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

The servo amplifier front view shown is for MR-J3-20B-RJ080W or less. For the appearances and connector layouts of other servo amplifiers, refer to chapter 7 SERVO AMPLIFIER OUTLINE DRAWINGS.

CN5 (USB connector) Refer to section 11.8 of the MR-J3- B Servo Amplifier Instruction Manual.

CN3

OPEN

P C D

CHARGE

CN4 CN2L CN2 CN1B CN1A CN3 CN5

CN1A Connector for the front axis of CN1A

SSCNET cable.

CN1B Connector for the rear axis of CN1B SSCNET cable.

The frames of the CN2 and CN3 connectors are connected to the PE (earth) terminal in the servo amplifier.

DI1

MO1

DICOM

DOCOM

DICOM

DI2

MO2

LAR

LZR

EM1

MBR

ALM

LBR

DI3INP

CN2

LG 8

MRR

MDR

BAT

The figures of connectors manufactured by 3M are shown above. When using any other connector, refer to section 9.1.2.

3 - 9

3. SIGNALS AND WIRING

3.5 Internal connection diagram

3.5.1 Incremental system

EM1

DI1 2

DI2 12

DI3 19

DICOM

DOCOM

VBUS

D12 D

GND

CN3

CN5

Forced stop

(Note 1)

(Note 2)

24VDC

USB

Servo amplifier

Approx.

5.6k

Approx.

5.6k

3 5

CN3

DICOM

MBR

INP

ALM

CN3

LAR

LBR

LZR

CN3

MO1

LG1

MO2

CN2

3 4MRMRR 2

LG 5THM1 6THM2 1P5 9P5

Differential line driver output (35mA or less)

Analog monitor

10VDC

(Note 4)

MRR

(Note 2)

Direct drive

motor

7 8

(Note 3)

Encoder

6THM1

11THM2

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

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

2. For sink I/O interface. For source I/O interface, refer to section 3.7.3 of the MR-J3-

3. Speed, position and temperature of the direct drive motor are detected.

4. Fabrication of the encoder cable is required at user side. (Refer to section 9.1.2.)

3 - 10

B Servo Amplifier Instruction Manual.

3. SIGNALS AND WIRING

3.5.2 Absolute position detection system

(Note 2)

(Note 1)

Forced stop

24VDC

USB

EM1

DI1 2

DI2 12

DI3 19

DICOM

DOCOM

VBUS

D12 D

GND

CN3

CN5

3 5

Approx.

5.6k

Approx.

5.6k

Servo amplifier

CN3

DICOM

MBR

INP

ALM

CN3

LAR

LBR

LZR

CN3

MO1

LG1

MO2

CN2

3 4MRMRR 2

LG 5THM1 6THM2 1P5 9BAT

Analog monitor

Absolute position strage unit (Note 4)

(Note 5) (Note 5)

MRR

THM1

P5 9

BAT

(Note 2)

Differential line driver output (35mA or less)

10VDC

7 8

11THM2

7 8

MRR

THM1 THM2

BAT

MRR

LG THM1 THM2

BAT

Direct drive

motor

7 8

(Note 3)

Encoder

9 2 1

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

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

2. For sink I/O interface. For source I/O interface, refer to section 3.7.3 of the MR-J3-

B Servo Amplifier Instruction Manual.

3. Speed, position and temperature of the direct drive motor are detected.

4. To configure the absolute position detection system, always connect this by combining with the MR-J3BAT battery. (Refer to

section 9.2.)

5. Fabrication of the encoder cable is required at user side. (Refer to section 9.1.2.)

3 - 11

3. SIGNALS AND WIRING

MEMO

3 - 12

4. OPERATION AND FUNCTIONS

4.1 Startup

Start up the direct drive servo referring to the following procedure.

Execution of installation and wiring

Incremental system

(Note 1) Execution of the magnetic pole detection (Refer to section 4.2)

Absolute position

detection system?

Z-phase pulse of the direct drive motor is turned on

by the JOG operation (Note 1 and 2)

Change to the setting not requiring the magnetic

pole detection (Refer to section 4.2.2)

Absolute position detection system

Can you manually turn

on the Z-phase pulse of the direct

Turn the servo amplifier power supply off and on (Note 2)

drive motor?

Perform this procedure once at startup

Yes

Z-phase pulse of the direct drive motor is turned on manually (Note 3)

(Note 1) Positioning operation check using the test operation mode

Positioning operation check using the controller (Refer to section 4.3)

Home position return (Refer to the manual of the controller.)

Positioning operation

Note 1. MR Configurator is used.

2. Under the absolute position detection system, always turn on the Z-phase pulse of the direct drive motor while the servo amplifier

power supply is on, then turn the servo amplifier power supply off and on. By turning off and on the power supply, the absolute

position becomes confirmed. Without this operation, the absolute position cannot be regained properly, and a warning will occur at

the controller side.

3. If the Z-phase pulse of the direct drive motor can be turned on manually, it does not have to be turned on by the magnetic pole

detection or the JOG operation.

For this operation, always connect the direct drive motor encoder and the servo amplifier and turn on only the control circuit power

supply of the servo amplifier (L

the safety.

, L21) (turn off the main circuit power supply L1, L2, and L3). Perform this operation by considering

4 - 1

4. OPERATION AND FUNCTIONS

4.2 Magnetic pole detection

POINT

Magnetic pole detection is not required for the configured absolute position

detection system where the Z-phase pulse can be turned on manually. For this operation, always connect the direct drive motor encoder and the servo amplifier and turn on the control circuit power supply of the servo amplifier. Perform this operation by considering the safety.

Make sure to perform the magnetic pole detection before starting the positioning operation in order to match the positional relationship between the direct drive motor and the encoder. Before starting up the equipment, always perform the test operation (positioning operation) of MR Configurator.

4.2.1 Preparation for the magnetic pole detection

POINT

When the test operation mode is set with the test operation select switch (SW2-1), the SSCNET with the test operation mode is disconnected.

For the magnetic pole detection, the test operation mode (positioning operation) of MR Configurator is used. Turn the power of servo amplifier off and set the test operation select switch (SW2-1) as shown below. By turning the power on, it switches to the test operation mode.

communication of the servo amplifiers following the servo amplifier

ON 4E

SW1

TEST

SW2

Down

Set the SW2-1 to "Up"

4 - 2

4. OPERATION AND FUNCTIONS

4.2.2 Driving when magnetic pole is detected

WARNING

CAUTION

For the following cases, the magnetic pole detection is required.

(a) When using the incremental system (Refer to (1) in this section)

(b) When using the absolute position detection system and matching with the cases indicated below (Refer

to (2) in this section)

At the system setup (at the first startup of equipment) When the direct drive motor is replaced When the Z-phase pulse of the direct drive motor cannot be turned on manually When the absolute position erase (25) alarm has occurred

Note that the magnetic pole detection is automatically started simultaneously with turning on the servo-on command.

If the magnetic pole detection is not executed properly, the direct drive motor may run unexpectedly.

POINT

Establish the machine configuration using the stroke limits (FLS and RLS). If the stroke limits (FLS and RLS) do not exist, it may cause the machine damage by a collision. At the magnetic pole detection, it is not predictable whether it moves to the forward rotation or reverse rotation. Setting the parameter No.PS09 (Magnetic pole detection voltage level) may cause the occurrence of overload, overcurrent, magnetic pole detection alarm, etc. When performing the positioning operation from the controller, set the sequence which confirms the normal completion of magnetic pole detection and the servo-on status, then outputs the positioning command. If outputting the positioning command before the Ready (RD) turns on, the command may not be accepted or the servo alarm may occur. After the magnetic pole detection, check the accuracy of position with the test operation (positioning operation) of MR Configurator. The accuracy of magnetic pole detection will be improved by being operated in the no-load condition.

4 - 3

4. OPERATION AND FUNCTIONS

(1) For the incremental system

For the incremental system, the magnetic pole detection is required every time the power is turned on. By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set the parameters (first digit of parameter No. PS01) for executing the magnetic pole detection.

(a) Timing chart

Servo-on command

Base circuit

Ready (RD)

Note. The magnetic pole detection time indicates the operation time when the stroke limits

(FLS and RLS) is on.

ON OFF

(b) Direct drive motor movement (when FLS and RLS are on)

95ms

15s or less

Magnetic pole detection time (Note)

Center of direct drive motor rotation part

FLS (Note)(Note) RLS

Servo-on position (Magnetic pole detection start position)

Magnetic pole detection complete position

10deg or less

Note. When the stroke limit (FLS and RLS) turns off during the magnetic pole detection, the

operation of magnetic pole detection is carried on to the opposite direction. When both

FLS and RLS are off, the magnetic pole detection error (27) occurs.

When the FLS and RLS are off at the servo-on, the magnetic pole detection is carried out as follows.

RLS

Magnetic pole detection start position

Center of direct drive motor rotation part

FLS

Servo-on position

After the machine moves to the position where the stroke limit (FLS and RLS) is set, the magnetic pole detection starts.

Magnetic pole detection complete position

10deg or less

4 - 4

4. OPERATION AND FUNCTIONS

(2) For the absolute position detection system

POINT

Be sure to turn on the Z-phase pulse in JOG operation after the magnetic pole detection.

Carry out the magnetic pole detection referring the following procedure.

(a) Set the parameter No.PS01 (Special function selection 1) to "

valid)".

Parameter No.PS01

1 (Magnetic pole detection always

Magnetic pole detection always valid (initial value)

(b) Execute the magnetic pole detection. (Refer to (1) (a) and (b) in this section)

0 (Magnetic pole detection not valid)" after the normal

completion of magnetic pole detection.

Parameter No.PS01

Magnetic pole detection invalid

By turning on the Z-phase pulse in JOG operation and by making the magnetic pole detection function invalid with the parameter No.PS01 after the magnetic pole detection, the magnetic pole detection for each power-on will be unnecessary.

4 - 5

4. OPERATION AND FUNCTIONS

4.2.3 Magnetic pole detection method setting

Set a magnetic pole detection method to the 1st digit (method selection for the magnetic pole detection) of parameter No.PS08.

Parameter No.PS08

Method selection for the magnetic pole detection 0: Position detection method 4: Minute position detection method

4.2.4 Setting the magnetic pole detection voltage level of the position detection method

Set the voltage level in parameter No.PS09 (Magnetic pole detection voltage level) to perform magnetic pole detection with the position detection method. Voltage level setting is not required when detecting magnetic poles by the minute position detection method.

(1) Guideline of parameter settings

Set the parameters referring to the following table.

Parameter No.PS09 setting value

(Indication)

Servo status

Torque at operation Small Large

Overload, overcurrent alarm

Magnetic pole detection alarm Frequently occurred

Magnetic pole detection accuracy Low High

(Less than 10 (Initial value) More than 50)

Small

Not frequently

occurred

(2) Setting procedure

(a) By carrying out the magnetic pole operation, make the setting of parameter No.PS09 (magnetic pole

detection voltage level) larger until the overload 1 (50), overload 2 (51), overload warning 1 (E1) and overload warning 2 (EC) occur. To get a rough idea, make it lager in "5". When these alarms and warnings occur during the magnetic pole detection by MR Configurator, the test operation of MR Configurator is automatically completed and the servo-off status is established.

(b) Set the final setting value to approximately 70% of the value which is set at the occurrence of the

overload 1 (50), overload 2 (51), overload warning 1 (E1) and overload warning 2 (EC). However, in the case where the initial magnetic pole detection error (27) occurs with this setting value, set the final setting value to the value intermediate between the setting value at the occurrence of the overload 1 (50), overload 2 (51), overload warning 1 (E1), overload warning 2 (EC) and the setting value at the occurrence of the magnetic pole detection alarm.

Middle Large

Frequently occurred

Not frequently

occurred

4 - 6

4. OPERATION AND FUNCTIONS

(3) Setting example

Magnetic pole detection

Parameter No.PS09 setting value

Overload and overcurrent alarm

Existence or nonexistence

30 35 40 45 65 70

Carry out the magnetic pole detection repeatedly while making the setting value of the parameter No.PS09 larger.

An alarm has occurred when the setting value of the parameter No.PS09 is set to 70.

Here, the final setting value of the parameter No.PS09 is set to 49 (the setting value at the occurrence of the overload and overcurrent alarm

70 0.7).

4 - 7

4. OPERATION AND FUNCTIONS

4.2.5 Magnetic pole detection method using MR Configurator

The following shows the procedure of the magnetic pole detection using MR Configurator. (1) Magnetic pole detection using position detection method

Magnetic pole detection

After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are on, turn the

1) power of servo amplifier off once and then turn it on again.

After switching the test operation select switch (SW2-1) of the servo amplifier to "Up", turn the power of servo amplifier off once and then turn it on again.

Set parameter No.PS08 (Special function selection 3) to " 0", and the magnetic pole detection method to "position detection method".

Change to "Magnetic pole detection always valid" by setting the parameter No.PS01 (Special

4) function selection 1) to " 1". (Note)

Turn the power of servo amplifier off once and then turn it on again.

Set the parameter No.PS09 (Magnetic detection voltage level) to "F10" (guide value) as a guide.

Execute the "forward rotation" or "reverse rotation" with the "positioning operat" of the MR Configrator test operation mode. Set the travel distance to "0" at this time.

The magnetic pole detection is carried out.

YES

Is the parameter No.PS09 (Magnetic pole detection voltage level) the final value?

Reset the alarm or turn the power

Has the magnetic pole detection alarm (27) occurred?

YES

of servo amplifier off once, and then turn the power on again.

Have the overload alarms (50 and

51), overcurrent alarm (32) and overload warning (E1) occurred?

YES

Turn the power of servo amplifier off once and then turn it on again.

Reset the alarm or turn the power of servo amplifier off, and then turn the power on again.

Raise the value of parameter No.PS09 in five.

Set approximately 70% of the parameter No.PS09 as the final setting vale. In the case where the magnetic pole detection error (27) occurs with this setting value, set the final setting value to the value intermediate between the setting value at the occurrence of the overload alarms (50 and 51), overcurrent alarm (32), overload warning (E1) and the setting value at the occurrence of the magnetic pole detection alarm (27).

Change to "Magnetic pole detection invalid" by setting the parameter No.PS01 (Special function

8) selection 1) to " 0". (Note)

End

Note. Parameter No.PS01 setting is unnecessary for an incremental system.

4 - 8

4. OPERATION AND FUNCTIONS

(2) Magnetic pole detection using minute position detection method

Magnetic pole detection

1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are on, turn the power of servo amplifier off once and then turn it on again.

After switching the test operation select switch (SW2-1) of the servo amplifier to "Up", turn the power

2) of servo amplifier off once and then turn it on again.

Set parameter No.PS08 (Special function selection 3) to " 4", and the magnetic pole detection

3) method to "minute position detection method".

Change to "Magnetic pole detection always valid" by setting the parameter No.PS01 (Special

4) function selection 1) to " 1". (Note 1)

Turn the power of servo amplifier off once and then turn it on again. 5)

Set the load inertia moment ratio of the direct drive motor with parameter No.PS17 (Minute position

6) detection method function selection). (Note 2)

Execute the "forward rotation" or "reverse rotation" with the "positioning operatation" of the MR Configrator test operation mode. Set the travel distance to "0" at this time.

The magnetic pole detection is carried out.

YES

which is set by parameter No.PS17 (Minute position

Is the response of the

minute position detection method,

detection method function selection),

finalized?

Lower the response of the minute position

Do abnormal sounds and

vibration occur during the

magnetic pole detection?

YES

detection method by two in parameter No.PS17 (Minute position detection method function selection), and use the value as the finalized value.

Does the travel distance

during the magnetic pole detection

has a problem? (Note 3)

Problem exists

Raise the response of the minute position detection method by one in parameter No.PS17 (Minute position detection method function selection).

Problem does not exist

Change to "Magnetic pole detection invalid" by setting the parameter No.PS01 (Special function

8) selection 1) to " 0". (Note 1)

End

Note 1. Parameter No.PS01 setting is unnecessary for an incremental system.

2. When the load inertia moment ratio of the direct drive motor is unknown, detect magnetic poles with the

position detection method, perform auto tuning, and set an estimated value.

3. When detecting magnetic poles with the minute position detection method, the maximum travel distance of

5 degrees or less during the magnetic pole detection is acceptable. To shorten the travel distance, increase

the response of the minute position detection method in parameter No.PS17 (Minute position detection

method function selection).

4 - 9

4. OPERATION AND FUNCTIONS

(3) Transition of the servo amplifier display (3-digit 7-segment LED) when detecting magnetic poles

The servo amplifier display (3-digit 7-segment LED) shifts as shown below when the magnetic poles are detected properly using MR Configurator.

Magnetic pole

detection

Servo-off status

Detecting

magnetic poles

completed

(servo-on status)

Decimal point flickers.

4.3 Operation from the controller

When establishing the absolute position detection system, battery (MR-J3BAT) and the absolute position storage unit is required. The direct drive servo can be used in combination with the following controllers.

Servo system controller Model Software version (Note)

SV13/SV22 00H or later

Motion controller

Positioning module

Note. Refer to the manual of the each servo system controller for the software version and other

details.

Q17 DCPU

Q170MCPU

LD77MH

QD74MH 110220000000000-B or later

QD75MH

SV43 00B or later

SV13/SV22 00G or later

SV43

101120000000000-B or later

4.3.1 Operation method

The positioning operation from the controller is basically the same as that of MR-J3-

B. For the system, using the incremental system, however, the magnetic pole detection is automatically performed at the first servo-on after turning the power on. For this reason, when performing the positioning operation, configure the sequence which surely confirms the servo-on status as the inter lock condition of the positioning command. Also, some parameter settings and home position return varies depending on types of controllers.

4 - 10

4. OPERATION AND FUNCTIONS

4.3.2 Servo system controller setting

(1) Setting instructions

When using the direct drive servo, set it as described in this section. For other servo parameters and positioning control parameters, set them in the same method as that of MR-J3The following servo parameters will be valid by turning the power of servo amplifier off once and then turning it on again after writing to the servo amplifier from the controller.

Setting Item

Amplifier setting MR-J3-B DD MR-J3-DD (Note 4)

Motor setting Automatic setting

(Note 1)

No.

Symbol

PA01 For manufacturer setting (Note 2) 0060h

PC01 *ERZ Error excessive alarm level 3

PC03 *ENRS Encoder output pulses selection 0000h

PD03 For manufacturer setting (Note 2) 0020h

PD04

PS01 **LIT1 Special function selection 1 0001h

PS04 *LIT2 Special function selection 2 0003h

Servo

parameters

Note 1. The parameters having * before the symbol will be valid in the following conditions.

2. For the LD77MH

3. Pay attention on the followings.

4. Set QD74MH

PS05 LB1 Servo control position deviation error

PS06 LB2 Servo control speed deviation error

PS07 LB3 Servo control torque deviation error

PS08 *LIT3 Special function selection 3 0010h

PS09 LPWM Magnetic pole detection voltage level 30

PS10 For manufacturer setting (Note 2) 0005h

PS11 0064h

PS12

PS17 LTSTS Minute position detection method function

PS18 IDLV Minute position detection method

* : Turn the power of servo amplifier off once after the setting and then turn it on again, or execute the controller reset.

** : Turn the power of servo amplifier off once after the setting, and then turn it on again.

If the parameter (servo parameter) of servo amplifier has been changed, it automatically reads the servo parameter and stores in

the buffer memory of LD77MH

When turning off, resetting the power of LD77MH /QD74MH /QD75MH or turning off the control circuit power supply of

servo amplifier right after changing the servo parameter, the servo parameter may not reflect to the buffer memory of

LD77MH

0021h

detection level

01F4h

selection

identification signal amplitude

/QD74MH /QD75MH , make sure to set the initial value.

/QD74MH /QD75MH . In such a case, change it again.

and QD75MH with sequence program. (Refer to (2) of this section.)

Name

/QD74MH /QD75MH . However, it does not reflect to the flash ROM.

Initial

value

100

0000h

Motion controller

Q17

DCPU/Q170MCPU

Set as necessary.

B servo amplifier.

Setting description

Positioning module

LD77MH

When using QD74MH

or QD75MH

sequence program.

It is necessary to set the

initial values of these

parameters at the startup

of direct drive servo.

Refer to (2) and (3) in this

section.

When using LD77MH

set it with GX

Configurator-QP

(SW2D5C-QD75P-E) as

necessary.

(Note 3)

/QD74MH /

QD75MH

, set it with

4 - 11

4. OPERATION AND FUNCTIONS

(2) Sequence program example of servo parameters on the positioning module

POINT

For QD74MH /QD75MH , the parameter error (37) will occur if servo parameters are not initialized. The number of write time to the flash ROM is limited to 100,000. For this reason, try to write to the flash ROM only when changing the servo parameter instead of writing with every sequence program. When controlling multiple axes, write the servo parameters to all axes. Once the initial values are written to the flash ROM at startup, servo parameters are not required to be written at next power on or later. If the module write with GX Configurator-QP has been performed from QD75MH servo parameters again.

, however, initialize the

4 - 12

4. OPERATION AND FUNCTIONS

(a) Sequence program example when QD74MH

The following shows the example of writing the axis No.1 servo parameter to the flash ROM. After changing the servo parameter, turn on the power of QD74MH send the setting value to the servo amplifier. Refer to the Type QD74MH Positioning Module User’s Manual (Details) (IB(NA)0300147) for the buffer memory address of the special setting parameters (No.PS

(Note 1) Write condition

) of the 2nd to 16th axis servo parameters.

TOP H0 K10301 H0060 K1

is used

again or reset the CPU, then

Setting of the servo parameter No.PA01

TOP H0 K10381 K3 K1

TOP H0 K10383 H0000 K1

TOP H0 K10145 H0020 K1

TOP H0 K10146 H0021 K1 Setting of the servo parameter No.PD04

TOP H0 K10493 H0001 K1

TOP H0 K10496 H0003 K1

TOP H0 K10497 K9 K1

TOP H0 K10498 K100 K1

TOP H0 K10499 K100 K1

TOP H0 K10500 H0010 K1

TOP H0 K10501 K30 K1

TOP H0 K10502 H0005 K1

TOP H0 K10503 H0064 K1

TOP H0 K10504 H01F4 K1

TOP H0 K10509 H0000 K1

TOP H0 K10510 K0 K1

TOP H0 K500 K1 K1

Setting of the servo parameter No.PC01

Setting of the servo parameter No.PC03

Setting of the servo parameter No.PD03

Setting of the servo parameter No.PS01

Setting of the servo parameter No.PS04

Setting of the servo parameter No.PS05

Setting of the servo parameter No.PS06

Setting of the servo parameter No.PS07

Setting of the servo parameter No.PS08 (Note 2)

Setting of the servo parameter No.PS09

Setting of the servo parameter No.PS10

Setting of the servo parameter No.PS11

Setting of the servo parameter No.PS12

Setting of the servo parameter No.PS17

Setting of the servo parameter No.PS18

Write to flash ROM

Note 1. Configure a sequence program where the servo parameters are written to the flash ROM only when a servo parameter is

changed.

2. Change the sequence program of the servo parameter No.PS08 to the following sequence program for the magnetic pole

detection without the stroke limit (FLS and RLS).

TOP H0 K10500 H0110 K1

Setting of the servo parameter No.PS08

4 - 13

4. OPERATION AND FUNCTIONS

(b) Sequence program example when QD75MH

The following shows the example of writing the axis No.1 servo parameter to the flash ROM. After changing the servo parameter, turn on the power of QD75MH send the setting value to the servo amplifier. Refer to (3) in this section for the special setting parameter (No. PS

(Note 1) Write condition

) address of servo parameter.

TOP H0 K1

K30101 H0060

is used

again or reset the CPU, then

Setting of the servo parameter No.PA01

TOP H0 K1

TOP H0 K30199 H0021 K1 Setting of the servo parameter No.PD04

TOP H0 K1

TOP H0 K30276 K30 K1

TOP H0 K30277 H0005 K1

TOP H0 K30278 H0064 K1

TOP H0 K1

K30164 K3

K30166 H0000

K30198 H0020

K30268 H0001

K30271 H0003

K30272 K9

K30273 K100

K30274 K100

K30275 H0010

K30279 K500

K30284 H0000

K30285 K0

K1900 K1

Setting of the servo parameter No.PC01

Setting of the servo parameter No.PC03

Setting of the servo parameter No.PD03

Setting of the servo parameter No.PS01

Setting of the servo parameter No.PS04

Setting of the servo parameter No.PS05

Setting of the servo parameter No.PS06

Setting of the servo parameter No.PS07

Setting of the servo parameter No.PS08 (Note 2)

Setting of the servo parameter No.PS09

Setting of the servo parameter No.PS10

Setting of the servo parameter No.PS11

Setting of the servo parameter No.PS12

Setting of the servo parameter No.PS17

Setting of the servo parameter No.PS18

Write to flash ROM

Note 1. Configure a sequence program where the servo parameters are written to the flash ROM only when a servo parameter is

changed.

2. Change the sequence program of the servo parameter No.PS08 to the following sequence program for the magnetic pole

detection without the stroke limit (FLS and RLS).

TOP H0 K30275 K0110 K1

However, do not change to this sequence program if using the stroke limit (FLS and RLS) at the QD75MH side.

Setting of the servo parameter No.PS08

1) Before turning the power of servo amplifier on, write the servo parameter initial value, which is unique to the direct drive servo, to the flash ROM of QD74MH program example shown in (2) in this section.

/QD75MH referring to the sequence

2) After completion of writing to the flash ROM, turn the power of servo amplifier on.

4 - 14

4. OPERATION AND FUNCTIONS

(3) QD75MH

No.

PS01 **LIT1 Special function selection 1 0001h 30268 30468 30668 30868

PS02 For manufacturer setting 0000h 30269 30469 30669 30869

PS03

PS04 *LIT2 Special function selection 2 0003h 30271 30471 30671 30871

PS05 LB1 Servo control position deviation error detection

PS06 LB2 Servo control speed deviation error detection

PS07 LB3 Servo control torque deviation error detection

PS08 *LIT3 Special function selection 3 0010h 30275 30475 30675 30875

PS09 LPWM Magnetic pole detection voltage level 30 30276 30476 30676 30876

PS10 For manufacturer setting 0005h 30277 30477 30677 30877

PS11 0064h 30278 30478 30678 30878

PS12 01F4h 30279 30479 30679 30879

PS13 0000h 30280 30480 30680 30880

PS14 0000h 30281 30481 30681 30881

PS15 0000h 30282 30482 30682 30882

PS16

PS17 LTSTS Minute position detection method function

PS18 IDLV Minute position detection method identification

PS19 For manufacturer setting 0000h 30286 30486 30686 30886

PS20 0000h 30287 30487 30687 30887

PS21 0000h 30288 30488 30688 30888

PS22 0000h 30289 30489 30689 30889

PS23 0000h 30290 30490 30690 30890

PS24 0000h 30291 30491 30691 30891

PS25 0000h 30292 30492 30692 30892

PS26 0000h 30293 30493 30693 30893

PS27 0000h 30294 30494 30694 30894

PS28 0000h 30295 30495 30695 30895

PS29 0000h 30296 30496 30696 30896

PS30 0000h 30297 30497 30697 30897

PS31 0000h 30298 30498 30698 30898

PS32

Note. Parameter whose symbol is preceded by * is made valid with the following conditions.

* : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset.

**: Set the parameter value, switch power off once, and then switch it on again.

buffer memory address of special setting parameter (No.PS )

Symbol

(Note)

Description Buffer memory address

Name

0000h 30270 30470 30670 30870

level

0000h

selection

signal amplitude

0000h

Initial

value

9 0.01rev 30272 30472 30672 30872

100 r/min 30273 30473 30673 30873

100 30274 30474 30674 30874

0000h 30284 30484 30684 30884

0 30285 30485 30685 30885

Unit

Axis 1 Axis 2 Axis 3 Axis 4

30283 30483 30683 30883

30299 30499 30699 30899

4 - 15

4. OPERATION AND FUNCTIONS

4.4 Servo control error detection function

POINT

For the servo control error detection function, the position and speed deviation error detections are enabled as factory-set. (Parameter No.PS04:

If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. The protective function for detecting this before happens and stopping the operation is the servo control error detection function. As the servo control error detection function, there are three types of detection methods: position deviation, speed deviation and torque deviation. An error is detected when each error detection function is enabled with the setting of the parameter No.PS04 (Special function selection 2). The detection level can be changed with the parameter Nos. PS05, PS06 and PS07.

Servo amplifier

Servo amplifier internal value

1) Model feedback position [rev]

3) Model feedback rotation speed [r/min]

5) Command torque [ ]

Encoder

2) Feedback position [rev]

4) Feedback rotation speed [r/min]

6) Feedback torque [ ]

Direct drive motor

Figure 4.1 Outline of servo control error detection function

(1) Position deviation error detection

Set the parameter No.PS04 to "

1" to make the position deviation error detection enabled.

Parameter No.PS04

Position deviation error detection valid

If there is a deviation larger than the setting value (1 to 1000rev) of the parameter No.PS05 (Servo control position deviation error detection level) after comparing the model feedback position 1) and the feedback position 2) in Figure 4.1, the alarm (Servo control error 42) occurs, and the direct drive motor stops. The initial value of parameter No.PS05 is 0.09rev (About 30degree in the mechanical radian). Change the setting value as necessary.

Encoder

4 - 16

4. OPERATION AND FUNCTIONS

(2) Speed deviation error detection

Set the parameter No.PS04 to "

2" to make the speed deviation error detection enabled.

Parameter No.PS04

Speed deviation error detection valid

If there is a deviation larger than the setting value (1 to 2000r/min) of the parameter No.PS06 (Servo control speed deviation error detection level) after comparing the model feedback speed 3) and the feedback speed

4) in Figure 4.1, the alarm (Servo control error 42) occurs, and the direct drive motor stops. The initial value of parameter No.PS06 is 100r/min. Change the setting value as necessary.

(3) Torque deviation error detection

Set the parameter No.PS04 to "

4" to make the torque deviation error detection enabled.

Parameter No.PS04

Torque deviation error detection valid

If there is a deviation larger than the setting value (1 to 1,000

) of the parameter No.PS07 (Servo control torque deviation error detection level) after comparing the command torque 5) and the feedback torque 6) in Figure 4.1, the alarm (Servo control error 42) occurs, and the direct drive motor stops. The initial value of parameter No.PS05 is 100

. Change the setting value as necessary.

(4) Detecting multiple deviation errors

Setting the parameter No.PS04 as shown below allows the direct drive motor to detect multiple deviation errors. For the error detection methods, refer to (1) to (3) in this section.

Parameter No.PS04

Setting

value

1 2 3 4 5 6 7

Position deviation

error detection

Speed deviation

error detection

Torque deviation

error detection

4 - 17

4. OPERATION AND FUNCTIONS

MEMO

4 - 18

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

Special setting parameters

(No.PS

5.1 Parameter write inhibit (Parameter No.PA19)

)

instable. If fixed values are written in the digits of a parameter, do not change these values.

POINT

When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Cycling the power disables the values set in MR Configurator and enables the values set in 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.

Use these parameters when making gain adjustment manually.

When changing settings such as analog monitor output signal, use these parameters.

Use these parameters when changing the I/O signals of the servo amplifier.

Use these parameters when setting specially for the direct drive servo.

POINT

This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed.

In the factory setting, this servo amplifier allows changes to the all parameters, settings. With the setting of parameter No.PA19, write can be disabled to prevent accidental changes. The next 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

Parameter No.PA19

setting

0000h

000Bh

000Ch

Setting

operation

Reference

Write

Reference

Write

Reference

Write

Basic setting

parameters

No.PA

Gain/filter

parameters

No.PB

Extension setting

parameters

No.PC

I/O setting

parameters

No.PD

Special setting

parameters

No.PS

5 - 1

5. PARAMETERS

Parameter No.PA19

setting

(initial value)

100Bh

100Dh

Setting

operation

Reference 000Dh

Write

Reference

Write

Reference

Write

Basic setting

parameters

No.PA

Parameter

No.PA19 only

Parameter

No.PA19 only

5.2 Basic setting parameters (No.PA

)

5.2.1 Parameter list

POINT

For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3-

B Servo Amplifier Instruction Manual section 5.1. 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.

Never change the parameters for the manufacturer setting.

No. Symbol Name Initial value Unit Reference

PA01 For manufacturer setting 0060h

PA02 **REG Regenerative option 0000h MR-J3- B

PA03 *ABS Absolute position detection system 0000h Section 5.2.2

PA04 *AOP1 Function selection A-1 0000h MR-J3- B

PA05 0

PA06 1

PA07

PA08 ATU Auto tuning 0001h

PA09 RSP Auto tuning response 12

PA10 INP In-position range 100 pulse

PA11 1000.0

PA12 1000.0

PA13

PA14 *POL Rotation direction selection 0 Section 5.2.2

PA15 *ENR Encoder output pulses 4000 pulse/

PA16 0

PA17 0000h

PA18

PA19 *BLK Parameter write inhibit 000Dh Section 5.2.2

For manufacturer setting

Gain/filter

parameters

No.PB

Extension setting

parameters

No.PC

I/O setting

parameters

No.PD

0000h

Special setting

rev

parameters

No.PS

MR-J3-

MR-J3- B

5 - 2

5. PARAMETERS

5.2.2 List of details

Classification No. Symbol Name and function

PA01 For manufacturer setting

Do not change this value by any means.

PA03 *ABS Absolute position detection system

Set this parameter when using the absolute position detection system in

the position control mode.

Basic setting parameter

PA14 *POL Rotation direction selection

000

Selection of absolute position detection system (Refer to MR-J3- B Servo Amplifier Instruction Manual chapter 12) 0: Used in incremental system 1: Used in absolute position detection system

If the absolute position detection system is enabled when the incremental system is being used, parameter error (37) occurs.

POINT

This parameter cannot be used in the speed control mode.

Select direct drive motor rotation direction relative.

Initial

value

0060h

0000h Refer to the

Unit Setting range

name and

function

column

0 0 1

Direct drive motor rotation direction

Setting

When positioning address

increases

Forward rotation (CCW)

When positioning address

decreases

0 CCW CW

1 CW CCW

POINT

This parameter cannot be used in the speed control mode.

Reverse rotaion (CW)

5 - 3

5. PARAMETERS

Classification No. Symbol Name and function

PA19 *BLK Parameter write inhibit

Basic setting parameter

Setting Operation

Reference

0000h

Reference

000Bh

Reference

000Ch

Reference

000Dh

Reference

100Bh

Reference

100Dh

Write

No.PA

Parameter No.PA19 only

Applicable parameters

No.PB No.PC No.PD No.PS

Initial

value

000Dh

Unit Setting range

Refer to the

name and

function

column

5 - 4

5. PARAMETERS

5.3 Gain/Filter parameters (No.PB

5.3.1 Parameter list

POINT

For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3The 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.

Never change the parameters for the manufacturer setting.

No. Symbol Name Initial value Unit Reference

PB01 FILT Adaptive tuning mode(adaptive filter II) 0000h

PB02 VRFT Vibration suppression control tuning mode(advanced vibration suppression

control)

PB03 For manufacturer setting 0

PB04 FFC Feed forward gain 0 MR-J3- B

PB05 For manufacturer setting 500

PB06 GD2 Ratio of load inertia moment to direct drive motor inertia moment 7.0 Multi-

PB07 PG1 Model loop gain 24 rad/s

PB08 PG2 Position loop gain 37 rad/s

PB09 VG2 Speed loop gain 823 rad/s

PB10 VIC Speed integral compensation 33.7 ms

PB11 VDC Speed differential compensation 980

PB12 For manufacturer setting 0

PB13 NH1 Machine resonance suppression filter 1 4500 Hz MR-J3- B

PB14 NHQ1 Notch shape selection 1 0000h

PB15 NH2 Machine resonance suppression filter 2 4500 Hz

PB16 NHQ2 Notch shape selection 2 0000h

PB17 Automatic setting parameter

PB18 LPF Low-pass filter setting 3141 rad/s

PB19 VRF1 Vibration suppression control vibration frequency setting 100.0 Hz

PB20 VRF2 Vibration suppression control resonance frequency setting 100.0 Hz

PB21 0.00

PB22

PB23 VFBF Low-pass filter selection 0000h

PB24 *MVS Slight vibration suppression control selection 0000h

PB25 For manufacturer setting 0000h

PB26 *CDP Gain changing selection 0000h

PB27 CDL Gain changing condition 10

PB28 CDT Gain changing time constant 1 ms

PB29 GD2B Gain changing ratio of load inertia moment to direct drive motor inertia

PB30 PG2B Gain changing position loop gain 37 rad/s

PB31 VG2B Gain changing speed loop gain 823 rad/s

PB32 VICB Gain changing speed integral compensation 33.7 ms

PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Hz

PB34 VRF2B Gain changing vibration suppression control resonance frequency setting 100.0 Hz

For manufacturer setting

moment

)

B Servo Amplifier Instruction Manual section 5.2.

0000h

0.00

7.0 Multi-

plier

(

plier

(

MR-J3- B

MR-J3-

5 - 5

5. PARAMETERS

5.4 Extension setting parameters (No.PC

5.4.1 Parameter list

POINT

For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3-

B Servo Amplifier Instruction Manual section 5.3. 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.

Never change the parameters for the manufacturer setting.

No. Symbol Name Initial value Unit Reference

PC01 *ERZ Error excessive alarm level 3 rev MR-J3- B

PC02 MBR Electromagnetic brake sequence output 0 ms

PC03 *ENRS Encoder output pulses selection 0000h

PC04 0000h

PC05 0000h

PC06

PC07 ZSP Zero speed 50 r/min MR-J3- B

PC08 For manufacturer setting 0

PC09 MOD1 Analog monitor 1 output 0000h

PC10 MOD2 Analog monitor 2 output 0001h

PC11 MO1 Analog monitor 1 offset 0 mV

PC12 MO2 Analog monitor 2 offset 0 mV

PC13 For manufacturer setting 0

PC14 0

PC15 0

PC16

PC17 For manufacturer setting (Note) 0000h

PC18 For manufacturer setting 0000h

PC19

PC20 *COP7 Function selection C-7 0000h

PC21 *BPS Alarm history clear 0000h

PC22 For manufacturer setting 0000h

PC23 0000h

PC24 0000h

PC25 0000h

PC26 0100h

PC27 0000h

PC28 0000h

PC29 0000h

PC30 0000h

PC31 0000h

PC32

Note. This parameter is "Function selection C-4" for the MR-J3- B servo amplifier, however the parameter is not available for the MR-J3-

B-RJ080W servo amplifier. If the setting is changed, a parameter error (37) occurs.

For manufacturer setting

0000h

)

0000h

MR-J3-

5 - 6

5. PARAMETERS

5.5 I/O setting parameters (No.PD

5.5.1 Parameter list

POINT

parameter.

Never change the parameters for the manufacturer setting.

No. Symbol Name Initial value Unit Reference

PD01 For manufacturer setting 0000h

PD02 0000h

PD03 0020h

PD04 0021h

PD05 0000h

PD06

PD07 *D01 Output signal device selection 1(CN3-13) 0005h

PD08 *D02 Output signal device selection 2(CN3-9) 0004h

PD09 *D03 Output signal device selection 3(CN3-15) 0003h

PD10 0000h

PD11 0004h

PD12 0000h

PD13

PD14 *DOP3 Function selection D-3 0000h MR-J3- B

PD15 0000h

PD16 0000h

PD17 0000h

PD18 0000h

PD19 0000h

PD20 0000h

PD21 0000h

PD22 0000h

PD23 0000h

PD24 0000h

PD25 0000h

PD26 0000h

PD27 0000h

PD28 0000h

PD29 0000h

PD30 0000h

PD31 0000h

PD32

For manufacturer setting

)

B Servo Amplifier Instruction Manual section 5.4.

0000h

MR-J3-

0000h

5 - 7

5. PARAMETERS

5.6 Special setting parameters (No.PS

5.6.1 Parameter list

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. Never change the parameters for the manufacturer setting.

No. Symbol Name Initial value Unit Reference

PS01 **LIT1 Special function selection 1 0001h Section 5.6.2

PS02 For manufacturer setting 0000h

PS03

PS04 *LIT2 Special function selection 2 0003h Section 5.6.2

PS05 LB1 Servo control position deviation error detection level 9 0.01

PS06 LB2 Servo control speed deviation error detection level 100 r/min

PS07 LB3 Servo control torque deviation error detection level 100

PS08 *LIT3 Special function selection 3 0010h

PS09 LPWM Magnetic pole detection voltage level 30

PS10 For manufacturer setting 0005h

PS11 0064h

PS12 01F4h

PS13 0000h

PS14 0000h

PS15 0000h

PS16

PS17 LTSTS Minute position detection method function selection 0000h Section 5.6.2

PS18 IDLV Minute position detection method identification signal amplitude 0

PS19 For manufacturer setting 0000h

PS20 0000h

PS21 0000h

PS22 0000h

PS23 0000h

PS24 0000h

PS25 0000h

PS26 0000h

PS27 0000h

PS28 0000h

PS29 0000h

PS30 0000h

PS31 0000h

PS32

0000h

)

rev

5 - 8

5. PARAMETERS

5.6.2 List of details

Classification No. Symbol Name and function

PS01 *LIT1 Special function selection 1

The magnetic pole detection setting, the valid/invalid setting of the direct

drive motor thermistor can be selected. (Refer to section 4.2)

Direct drive motor magnetic pole detection setting is unnecessary for an

incremental system.

Initial

value

0001h Refer to the

Unit Setting range

name and

function

column

Special setting parameters

POINT

To protect the direct drive motor from overheating,

usually fabricate a cable that includes a thermistor wire. Set the thermistor error detection to be valid with this parameter.

PS02 0000h

PS03

PS04 *LIT2 Special function selection 2

For manufacturer setting

Do not change this value by any means.

Servo control error detection function and servo control error reset can

be selected.

Direct drive motor magnetic pole detection setting 0: Magnetic pole detection invalid 1: Magnetic pole always valid

Direct drive motor thermistor valid/invalid setting 0: Thermistor error detection valid 1: Thermistor error detection invalid

0000h

0003h Refer to the

name and

function

column

Servo control error detection function selection (Refer to section 4.4) 0: Invalid 1: Position deviation error detection valid 2: Speed deviation error detection valid 3: Position/speed detection deviation error

PS05 LBI Servo control position deviation error detection level

Used to set the position deviation error detection level of the servo

control error detection. W hen the difference between the model

feedback position and the feedback position is bigger than this setting

value, the servo control error is detected (42). When the initial value is

(9), the mechanical radian is approximately 30 deg. (Refer to section

4.4)

detection valid 4: Torque deviation error detection valid 5: Position/torque deviation error detection valid 6: Speed/torque deviation error detection valid 7: Position/speed/torque deviation error detection valid

Servo control error detection reset selection Set the controller reset condition of the servo control error detection (42). 0: Reset impossible (Reset by switching off is possible.) 1: Reset possible

9 0.01

rev

1 to 1000

5 - 9

5. PARAMETERS

Classification No. Symbol Name and function

PS06 LB2 Servo control speed deviation error detection level

Used to set the speed deviation error detection level of the servo control

error detection. When the difference between the model feedback

speed and the feedback speed is bigger than this setting value, the

servo control error is detected (42). (Refer to section 4.4)

PS07 LB3 Servo control to torque deviation error detection level

Used to set the torque deviation error detection level of the servo control

Special setting parameters

PS08 *LIT3 Special function selection 3

error detection. When the difference between the command torque and

the feedback torque is bigger than this setting value, the servo control

error is detected (42). (Refer to section 4.4)

Select the valid/invalid setting of the stroke limit and the magnetic pole

detection method for the magnetic pole detection. (Refer to section

4.2.3)

When the stroke limit (FLS and RLS) of the servo amplifier is not used,

invalidate the stroke limit for the magnetic pole detection.

Initial

value

0010h Refer to the

Unit Setting range

100 r/min 1 to 2000

100

1 to 1000

name and

function

column

Method selection for the magnetic pole detection 0: Position detection method 4: Minute position detection method

Valid/invalid setting of the stroke limit (FLS and RLS) for the magnetic pole detection 0: Valid 1: Invalid

PS09 LPWM

PS10 0005h

PS11

PS12 01F4h

PS13 0000h

PS14 0000h

PS15 0000h

PS16

Magnetic pole detection voltage level Used to set the direct current exciting voltage level during the magnetic pole detection. When the overload alarm (50 and 51) or overcurrent alarm (32) occurs, set the smaller value. W hen the initial magnetic pole detection error occurs during the magnetic pole detection, set the bigger value. (Refer to section 4.2.4)

For manufacturer setting

Do not change these values by any means.

0000h

0064h

0 to 100

5 - 10

5. PARAMETERS

Classification No. Symbol Name and function

PS17 LTSTS

Minute position detection method function selection

Used to set the response and the load to motor inertia moment ratio of

the minute position detection method.

To make the parameter valid, set parameter No.PS08 (Special function

selection 3) to "

section 4.2.5)

4" (minute position detection method). (Refer to

Initial

value

0000h Refer to the

Unit Setting range

name and

function

column

Special setting parameters

Response of the minute position detection method

Setting Response Setting Response

Low response

08 19 2A 3B 4C 5D 6E 7FMiddle response

Selecting the load inertia moment ratio at the direct drive motor, which decides the response of the minute position detection method

Setting

08 19 2A 3B 4C 5D 6E 7 F 150 times or more70 times

Load inertia

moment ratio

Less than 10 times 80 times

Setting

Middle response

High response

Load inertia

moment ratio

90 times10 times 100 times20 times 110 times30 times 120 times40 times 130 times50 times 140 times60 times

PS18 IDLV

PS19 0000h

PS20

PS21 0000h

PS22 0000h

PS23 0000h

PS24 0000h

PS25 0000h

PS26 0000h

PS27 0000h

PS28 0000h

PS29 0000h

PS30 0000h

PS31 0000h

PS32

Minute position detection method identification signal amplitude

Used to set the identification signal amplitude for the minute position

detection method. To make the parameter valid, set parameter

No.PS08 (Special function selection 3) to "

Identification signal is "100

4.2.5)

For manufacturer setting

Do not change these values by any means.

" when "0000h" is set. (Refer to section

4".

0000h

0 to 100

5 - 11

Mitsubishi Electronics TM-RFM, MR-J3-B-RJ080W User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

COMPLIANCE WITH THE CE MARKING

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

1.2 Servo amplifier standard specifications

1.3 Function list

1.4 Model code definition

1.5 Combinations of servo amplifiers and direct drive motor

1.6 Parts identification

1.7 Configuration including auxiliary equipment

2. DIRECT DRIVE MOTOR

2.1 Rating plate

2.2 Parts identification

2.3 Installation

2.3.1 Equipment configuration

2.3.2 Installation orientation

2.3.3 Load remove precautions

2.3.4 Permissible load for the rotor

2.3.5 Protection from oil and water

2.3.6 Inspection

2.3.7 Life

2.3.8 Machine accuracies

2.3.9 Flange surface size

2.4 Connectors used for direct drive motor wiring

2.4.1 Selection of connectors

2.4.3 Connector outline drawings

2.5 TM-RFM series direct drive motor

2.5.1 Model code definition

2.5.2 Specification list

2.5.3 Torque characteristic

2.5.4 Outline dimension drawings

2.5.5 Connection of servo amplifier and direct drive motor

3. SIGNALS AND WIRING

3.1 Precautions for this chapter

3.2 Input power supply circuit

3.2.1 Selection example of wires

3.2.2 Connection example

3.3 I/O signal connection example

3.4 Connector and signal arrangements

3.5 Internal connection diagram

3.5.1 Incremental system

3.5.2 Absolute position detection system

4. OPERATION AND FUNCTIONS

4.1 Startup

4.2 Magnetic pole detection

4.2.1 Preparation for the magnetic pole detection

4.2.2 Driving when magnetic pole is detected

4.2.3 Magnetic pole detection method setting

4.2.4 Setting the magnetic pole detection voltage level of the position detection method

4.2.5 Magnetic pole detection method using MR Configurator

4.3 Operation from the controller

4.3.1 Operation method

4.3.2 Servo system controller setting

4.4 Servo control error detection function

5. PARAMETERS

5.1 Parameter write inhibit (Parameter No.PA19)

5.2.1 Parameter list

5.2.2 List of details

5.3.1 Parameter list

5.4.1 Parameter list

5.5.1 Parameter list

5.6.1 Parameter list

5.6.2 List of details