Mitsubishi Electric MR-J3-B-RJ006 Instruction Manual
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Mitsubishi Electric MR-J3-B-RJ006 Instruction Manual

Mitsubishi Electric MR-J3-B-RJ006 Instruction Manual

Melservo-j3 series, sscnet fully closed loop control, servo amplifier
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General-Purpose AC Servo
SSCNET
Fully Closed Loop Control
MODEL
MR-J3- B-RJ006
SERVO AMPLIFIER
INSTRUCTION MANUAL
J3
Series
C

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Summary of Contents for Mitsubishi Electric MR-J3-B-RJ006

  • Page 1 General-Purpose AC Servo Series SSCNET Fully Closed Loop Control MODEL MR-J3- B-RJ006 SERVO AMPLIFIER INSTRUCTION MANUAL...

  • Page 2: Safety Instructions

    Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.
  • Page 3 1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur.
  • Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.
  • Page 5 CAUTION Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load.
  • Page 6 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident.
  • Page 7 (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.
  • Page 8 About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area). FOR MAXIMUM SAFETY These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.
  • Page 9 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).
  • Page 10 (2) Configuration The control circuit provide safe separation to the main circuit in the servo amplifier. Control box Reinforced insulating type 24VDC power No-fuse Magnetic supply Servo breaker contactor motor Servo amplifier (3) Environment Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc.
  • Page 11 (b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard compliant power connector sets are available from us as options. (Refer to section 11.1 of the MR-J3- B Servo Amplifier Instruction Manual) (7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in section 11.12 of the MR-J3- B Servo Amplifier Instruction Manual.
  • Page 12 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier series: MR-J3-10B-RJ006 to MR-J3-22KB-RJ006 MR-J3-10B1-RJ006 to MR-J3-40B1-RJ006 MR-J3-60B4-RJ006 to MR-J3-22KB4-RJ006 Servo motor series : HF-MP HF-KP HF-SP (Note)
  • Page 13 (5) Options and auxiliary equipment Use UL/C-UL standard-compliant products. (6) Attachment of a servo motor For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual (Vol.2). (7) About wiring protection For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes.
  • Page 14 This Instruction Manual describes the functions unique to the fully closed loop control compatible servo amplifier MR-J3- B-RJ006. Therefore, when using the MR-J3- B-RJ006, refer to the SSCNET Compatible MR-J3- B Servo Amplifier Instruction Manual as well. However, the following items are not described in this Instruction Manual.
  • Page 15 MEMO A - 14...

  • Page 16: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -28 1.1 Overview..............................1 - 1 1.2 Control block diagram ..........................1 - 2 1.3 Servo amplifier standard specifications....................1 - 3 1.4 Function list .............................. 1 - 5 1.5 Selecting procedure of control mode....................... 1 - 6 1.5.1 Control mode configuration.......................
  • Page 17 4.1.5 Setting of feedback pulse electronic gear ..................4 - 4 4.1.6 Confirmation of load side encoder position data................4 - 6 4.1.7 Setting of fully closed loop dual feedback filter ................4 - 7 4.2 Home position return operation ....................... 4 - 8 4.2.1 General precautions..........................
  • Page 18 App. 2 Signal layout recording paper ......................App.- 2 App. 3 Change of connector sets to the RoHS compatible products............App.- 3 App. 4 MR-J3-200B-RJ006 servo amplifiers manufactured before March 2008........App.- 4...
  • Page 19 MEMO...

  • Page 20: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Overview This Instruction Manual explains the product that imports a position feedback signal from a load side encoder, such as a linear encoder, to the MR-J3- B servo amplifier to perform fully closed loop control. A control mode has the semi closed loop control, dual feedback control and fully closed loop control.

  • Page 21: Control Block Diagram

    1. FUNCTIONS AND CONFIGURATION 1.2 Control block diagram A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the load side encoder unit. Controller Servo motor Motor side feedback pulse (Motor side) (Load side resolution unit) Droop pulses Linear encoder...

  • Page 22: Servo Amplifier Standard Specifications

    1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications (1) 200V class, 100V class Servo amplifier 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1 MR-J3- -RJ006 Item 1-phase 100V to 3-phase or 1-phase 200 to Voltage/frequency 3-phase 200 to 230VAC, 50/60Hz 120VAC,...
  • Page 23 1. FUNCTIONS AND CONFIGURATION (2) 400V class Servo amplifier MR-J3- -RJ006 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4 Item Voltage/frequency 3-phase 380 to 480VAC, 50/60Hz Permissible voltage fluctuation 3-phase 323 to 528VAC Permissible frequency Within 5% fluctuation Power supply capacity Refer to section 10.2 Inrush current Refer to section 10.5...

  • Page 24: Function List

    1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference High-resolution encoder of 262144 pulses/rev is used as a servo motor High-resolution encoder encoder.

  • Page 25: Selecting Procedure Of Control Mode

    1. FUNCTIONS AND CONFIGURATION 1.5 Selecting procedure of control mode 1.5.1 Control mode configuration In this servo, a semi closed loop system or fully closed loop system can be selected as a control system. Also, on the fully closed loop system, the semi closed loop control, fully closed loop control and dual feedback control can be switched by the parameter No.PE08 settings.

  • Page 26: Model Code Definition

    1. FUNCTIONS AND CONFIGURATION 1.6 Model code definition (1) Rating plate AC SERVO Model MR-J3-10B-RJ006 Capacity POWER : 100W Applicable power supply INPUT 0.9A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz 1.3A 1PH 200-230V 50/60Hz OUTPUT: 170V 0-360Hz 1.1A Rated output current SERIAL : A34230001 Serial number 1 - 7...
  • Page 27 1. FUNCTIONS AND CONFIGURATION (2) Model MR-J3-100B-RJ006 or less MR-J3-60B4-RJ006 100B4-RJ006 Fully closed loop control symbol Standard regeneration Series brake resistor Symbol 0.1kW to 7kW 11kW to 2kW Built-in RJ006 Standard (No built-in for attachment 0.1kW) RZ006 No attachment Power supply Power supply Symbol 3-phase or 1-phase 200...

  • Page 28: Combination With Servo Motor

    1. FUNCTIONS AND CONFIGURATION 1.7 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes. Servo motors Servo amplifier HF-SP HF-KP HF-MP HC-RP HC-UP HC-LP 1000r/min 2000r/min MR-J3-10B (1) -RJ006...

  • Page 29: Structure

    1. FUNCTIONS AND CONFIGURATION 1.8 Structure 1.8.1 Parts identification (1) MR-J3-100B-RJ006 or less Detailed Name/Application explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. Rotary axis setting switch (SW1) Refer to the Used to set the axis No. of servo amplifier. MR-J3- B Servo Amplifier...
  • Page 30 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-60B4-RJ006 MR-J3-100B4-RJ006 Detailed Name/Application explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. Rotary axis setting switch (SW1) Refer to the Used to set the axis No. of servo amplifier. MR-J3- B Servo Amplifier Instruction...
  • Page 31 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-200B(4)-RJ006 Detailed Name/Application explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. Rotary axis setting switch (SW1) Refer to the Used to set the axis No. of servo amplifier. MR-J3- B Servo Amplifier Instruction...
  • Page 32 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350B-RJ006 Detailed Name/Application explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. Rotary axis setting switch (SW1) Refer to the Used to set the axis No. of servo amplifier. MR-J3- B Servo Amplifier Instruction...
  • Page 33 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-350B4-RJ006 MR-J3-500B(4)-RJ006 POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.8.2 of the MR-J3- B Servo Amplifier Instruction Manual. Detailed Name/Application explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number.
  • Page 34 1. FUNCTIONS AND CONFIGURATION (6) MR-J3-700B(4)-RJ006 POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.8.2 of the MR-J3- B Servo Amplifier Instruction Manual. Detailed Name/Application explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number.
  • Page 35 1. FUNCTIONS AND CONFIGURATION (7) MR-J3-11KB (4)-RJ006 to MR-J3-22KB(4)-RJ006 POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.8.2 of the MR-J3- B Servo Amplifier Instruction Manual. Detailed Name/Application explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number.

  • Page 36: Removal And Reinstallation Of The

    1. FUNCTIONS AND CONFIGURATION 1.8.2 Removal and reinstallation of the front cover Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage WARNING between P( ) and N( ) is safe with a voltage tester and others.
  • Page 37 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab Insert the front cover setting tabs into the sockets of Pull up the cover, supporting at point A) . servo amplifier (2 places). Setting tab Push the setting tabs until they click. 1 - 18...
  • Page 38 1. FUNCTIONS AND CONFIGURATION (2) For MR-J3-11KB(4)-RJ006 to MR-J3-22KB(4)-RJ006 Removal of the front cover 1) Press the removing knob on the lower side of the 3) Pull it to remove the front cover. front cover ( A) and B) ) and release the installation hook.

  • Page 39: Configuration Including Auxiliary Equipment

    1. FUNCTIONS AND CONFIGURATION 1.9 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products. (1) MR-J3-100B-RJ006 or less (a) For 3-phase or 1-phase 200V to 230VAC Personal computer R S T MR Configurator (Note 2) Power supply...
  • Page 40 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC Personal computer MR Configurator (Note 3) Power supply Servo amplifier No-fuse breaker (NFB) or fuse Junction terminal Magnetic block contactor (Note 1) (MC) Servo system CN1A Power factor controller or Front axis improving servo amplifier CN1B reactor...
  • Page 41 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-60B4-RJ006 MR-J3-100-RJ006B Personal R S T (Note 2) computer Power supply MR Configurator No-fuse breaker Servo amplifier (NFB) or fuse Junction terminal block Magnetic contactor (MC) Servo system CN1A (Note 1) controller or Front axis servo amplifier CN1B Line noise CN1B...
  • Page 42 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-200B(4)-RJ006 R S T (Note 2) Power supply No-fuse breaker (NFB) or fuse Magnetic Personal contactor computer (MC) MR Configurator (Note 1) Line noise filter (FR-BSF01) Servo amplifier (Note 1) Power factor improving DC Junction reactor (FR-BEL/ terminal...
  • Page 43 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350B-RJ006 R S T (Note 3) Power supply No-fuse breaker (NFB) or fuse Personal computer MR Configurator Magnetic contactor (MC) Servo amplifier (Note 1) Line noise filter Junction (FR-BLF) terminal block Servo system CN1A controller or Front axis servo amplifier CN1B CN1B Rear servo amplifier...
  • Page 44 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-350B4-RJ006 MR-J3-500B(4)-RJ006 R S T (Note 3) Power supply Personal computer MR Configurator No-fuse breaker Servo amplifier (NFB) or fuse Junction Magnetic terminal contactor block (MC) (Note 1) Servo system CN1A Line noise controller or Front axis filter servo amplifier CN1B (FR-BSF01)
  • Page 45 1. FUNCTIONS AND CONFIGURATION (6) MR-J3-700B(4)-RJ006 R S T Personal computer (Note 3) MR Configurator Power supply No-fuse breaker Servo amplifier (NFB) or fuse Junction terminal Magnetic block contactor (MC) (Note 1) Servo system controller or Front axis CN1A Line noise servo amplifier CN1B filter (FR-BSF01)
  • Page 46 1. FUNCTIONS AND CONFIGURATION (7) MR-J3-11KB(4)-RJ006 to MR-J3-22KB(4)-RJ006 R S T (Note 3) Personal Power supply computer MR Configurator No-fuse breaker (NFB) or fuse Servo amplifier Magnetic Junction contactor terminal (MC) block (Note 1) Servo system Line noise CN1A controller or Front axis filter servo amplifier CN1B (FR-BSF01)

  • Page 47: System Configuration

    1. FUNCTIONS AND CONFIGURATION 1.10 System configuration POINT For details of configuration with auxiliary equipments, refer to the MR-J3- B Servo Amplifier Instruction Manual. (1) For a linear encoder Servo amplifier SSCNET controller (Note) ABZ-phase pulse train interface compatible linear encoder SSCNET or serial interface compatible linear encoder position command...

  • Page 48: Signals And Wiring

    2. SIGNALS AND WIRING 2. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.

  • Page 49: Precautions For This Chapter

    2. SIGNALS AND WIRING 2.1 Precautions for this chapter The following items are not described in this chapter. Since these descriptions are the same as those of MR- J3- 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...
  • Page 50 2. SIGNALS AND WIRING (1) For 3-phase 200 to 230VAC power supply to MR-J3-10B-RJ006 to MR-J3-350B-RJ006 (Note 4) Controller Forced Alarm forced stop stop (RA2) Servo motor Servo amplifier CNP1 3-phase CNP3 (Note 7) 200 to Motor 230 VAC N( ) (Note 1) P( ) (Note 2)
  • Page 51 2. SIGNALS AND WIRING (2) For 1-phase 200 to 230VAC power supply to MR-J3-10B-RJ006 to MR-J3-70B-RJ006 Controller (Note 4) Forced forced stop Alarm stop (RA2) Servo motor Servo amplifier CNP1 1-phase CNP3 200 to (Note 7) 230 VAC Motor (Note 1) CNP2 (Note 2) (Note 3)
  • Page 52 2. SIGNALS AND WIRING (3) For MR-J3-10B1-RJ006 to MR-J3-40B1-RJ006 Controller (Note 4) Forced forced stop Alarm stop (RA2) Servo motor Servo amplifier CNP1 1-phase CNP3 100 to (Note 7) 120 VAC Blank Motor (Note 1) CNP2 (Note 2) (Note 3) Encoder Encoder cable Load side encoder...
  • Page 53 2. SIGNALS AND WIRING (4) MR-J3-60B4-RJ006 to MR-J3-200B4-RJ006 (Note 4) Controller Forced Alarm forced stop stop (Note 8) Stepdown transformer Servo amplifier Servo motor CNP1 CNP3 3-phase (Note 6) 380 to Motor 480VAC (Note 1) CNP2 (Note 2) (Note 3) Encoder Encoder cable Load side encoder...
  • Page 54 2. SIGNALS AND WIRING (5) MR-J3-500B-RJ006 MR-J3-700B-RJ006 Controller (Note 4) Forced forced stop Alarm stop (RA2) (Note 8) Cooling fan power supply Servo amplifier Servo motor 3-phase Built-in (Note 7) 200 to regenerative Motor 230 VAC resistor (Note 2) (Note 3) Encoder Encoder cable (Note 1)
  • Page 55 2. SIGNALS AND WIRING (6) MR-J3-350B4-RJ006 to MR-J3-700B4-RJ006 (Note 4) Controller Forced Alarm forced stop stop (Note 9) Cooling fan power supply (Note 8) Stepdown transformer Servo amplifier Servo motor 3-phase (Note 6) Built-in 380 to regenerative Motor 480VAC resistor (Note 2) (Note 3) Encoder...
  • Page 56 2. SIGNALS AND WIRING (7) MR-J3-11KB-RJ006 to MR-J3-22KB-RJ006 Controller Servo motor (Note 4) Forced forced stop thermal relay Alarm stop (RA2) Servo amplifier Servo motor Dynamic break (Option) 3-phase 200 to 230 VAC (Note 2) (Note 7) Regenerative (Note 1) resistor (Note 3) Encoder...
  • Page 57 2. SIGNALS AND WIRING Note 1. Always connect P and P. (Factory-wired.) When using the power factor improving DC reactor, refer to chapter 11 of the MR-J3- B Servo Amplifier Instruction Manual. 2. Connect the regenerative resistor. When using a regenerative option for the MR-J3- B-RJ006 servo amplifier, refer to chapter 11 of the MR-J3- B-RJ006 Servo Amplifier Instruction Manual.
  • Page 58 2. SIGNALS AND WIRING (8) MR-J3-11KB4-RJ006 to MR-J3-22KB4-RJ006 Controller (Note 4) Servo motor forced stop Forced Alarm thermal relay (RA2) stop (Note 9) Cooling fan power supply (Note 10) Stepdown transformer Servo amplifier Dynamic Servo motor break (Option) 3-phase 380 to 480 VAC (Note 2) (Note 7)
  • Page 59 2. SIGNALS AND WIRING Note 1. Always connect P and P. (Factory-wired.) When using the power factor improving DC reactor, refer to chapter 11 of the MR-J3- B Servo Amplifier Instruction Manual. 2. Connect the regenerative resistor. When using a regenerative option for the MR-J3- B-RJ006 servo amplifier, refer to chapter 11 of the MR-J3- B-RJ006 Servo Amplifier Instruction Manual.

  • Page 60: I/O Signal Connection Example

    (Note 6) Max. 1mA meter SSCNET cable Plate both directions (option) 2m Max CN1A (Note 8) CN1B (Note 1) Between electrodes MR-J3-B-RJ006 (Note 7) (2 axis) CN1A (Note 8) CN1B MR-J3-B-RJ006 (Note 7) (3 axis) (Note 6) SSCNET cable CN1A...
  • Page 61 2. 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 control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop (EM1) and other protective circuits.

  • Page 62: Connector And Signal Arrangements

    2. SIGNALS AND WIRING 2.4 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-RJ006 or less. For the appearances and connector layouts of other servo amplifiers, refer to the outline drawings of servo amplifier in chapter 6.

  • Page 63: Internal Connection Diagram

    2. SIGNALS AND WIRING 2.5 Internal connection diagram Servo amplifier Approx. Forced stop 5.6k DICOM (Note 2) Approx. (Note 1) 5.6k (Note 2) 24VDC DICOM DOCOM Differential line driver output <Isolated> (35mA or less) Analog monitor 10VDC VBUS 10VDC Servo motor Encoder Load side encoder MDR2...

  • Page 64: Treatment Of Cable Shield External Conductor

    2. SIGNALS AND WIRING 2.6 Treatment of cable shield external conductor In the case of the CN2, CN2L and CN3 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...
  • Page 65 2. SIGNALS AND WIRING MEMO 2 - 18...

  • Page 66: Load Side Encoder

    3. LOAD SIDE ENCODER 3. LOAD SIDE ENCODER POINT Always use the load side encoder cable introduced in this section. If the other products are used, a faulty may occur. For details of the load side encoder specifications, performance and assurance, contact each encoder manufacturer.

  • Page 67: Mitsubishi Serial Interface Compatible Linear Encoder

    C:0.2, 2, 3m 06ACF117A: 5m MR-EKCBL M-H Load side 06ACF117B: 10m (Option manufactured by Mitsubishi Electric) encoder cable Options manufactured by Mitutoyo Corporation When fabricating, refer to (4) (a), (b) in this section. When fabricating, refer to (4) (c) in this section.
  • Page 68 3. LOAD SIDE ENCODER (2) Linear scale unit structure Home position Mitutoyo AT343A Output cable Increasing direction Decreasing direction Home position Mitutoyo AT543A Decreasing direction Increasing direction Output cable Head cable Mitutoyo ST741A/ST743A Output cable Increasing direction Decreasing direction 3 - 3...
  • Page 69 3. LOAD SIDE ENCODER (3) Outline drawings (a) AT343A [Unit: mm] Full length L2 Mounting block fixing pitch L3 0.2 G Mounting block fixing pitch L4 Mounting block fixing pitch L4 Mounting block Air supply port (M5) 32.5 Elastically Elastically fixing (Provided at both ends) Completely fixing area...
  • Page 70 3. LOAD SIDE ENCODER (b) AT543A-SC [Unit: mm] Completely fixing area Aluminum frame surface Elastically fixing area 0.1G 0.05/500 (4.8) (4.8) L5 0.3 (P 0.2 x n) (L3) 5 pass through 20 0.2 Hexagon socket head bolt M4 x 25 4.5 pass through 8.3 spot facing depth 9 (Small-sized round plane washer, spring washer)
  • Page 71 3. LOAD SIDE ENCODER (c) ST741A ST743A [Unit: mm] Scale base length: L1 (10) (L3 0.2) x n L4 0.2 L4 0.2 (10) Scale base center position: L2 Z-4.6 drill hole + Count 0.1 G Detection head Scale base (46.4) 0.1/1000 G: Machine guide Head cable length: 1m...
  • Page 72 When producing a load side 2) Connector set MR-ECNM Part No.09BAA598B: 2m encoder cable (Option manufactured by Mitsubishi Electric Part No.09BAA598C: 3m Corporation) (Refer to section 3.4.) Note. For details, contact with Mitutoyo Corporation. 2) Production of load side encoder cable Produce the load side encoder cable using MR-EKCBL M-H (10m or less) or MR-ECNM as shown below.
  • Page 73 Cable length: 3m Cable length: 2m encoder cable (Option manufactured by Mitsubishi Electric Corporation) (Refer to section 3.4.) 2) Production of load side encoder cable Produce the load side encoder cable using MR-EKCBL M-H (10m or less) or MR-ECNM as shown below.
  • Page 74 2) Connector set MR-J3CN2 3) Junction connector (This should be load side encoder (Option manufactured by prepared by the customer.) cable Mitsubishi Electric D-SUB (female) 15 Pin shell: HDAB-15S’ Corporation) Plug case: HDA-CTH (Refer to section 3.4.) (manufactured by HIROSE ELECTRIC CO., LTD)
  • Page 75 3. LOAD SIDE ENCODER 2) Production of load side encoder cable Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below. The load side encoder cable can be produced as the length of max. 30m. The following diagram shows a connecting example of more than 5m to 10m.

  • Page 76: Linear Encoder Manufactured By Heidenhain Corporation

    3. LOAD SIDE ENCODER 3.2.2 Linear encoder manufactured by Heidenhain Corporation (1) Specifications POINT When the absolute position system is configured, the MR-J3BAT battery is not required. (a) Absolute type Item Specifications Model LC491M LC192M System Photoelectric scanning system Effective measurement length 70 to 2040mm 140 to 4240mm Resolution...
  • Page 77 3. LOAD SIDE ENCODER (b) Incremental type Item Specifications Model LIDA485 LIDA487 Serial interface conversion unit APE391M type name System Photoelectric scanning system Effective measurement length 140 to 30040mm 240 to 6040mm Resolution 0.05 m (20/4095 m) Resolution ratio of APE391M: 4096 Accuracy grade (20 (68) [ ( )] Supply power voltage...
  • Page 78 3. LOAD SIDE ENCODER (3) Outline Drawings POINT For the outline drawings of LIDA485, contact with HEIDENHAIN CORPORATION. (a) LC491M (Absolute type) [Unit: mm] DIN ISO 8015 ISO 2768-m H = Without mounting spur = With mounting spur F = Machine guide mounting spur P = Measurement point for adjustment...
  • Page 79 3. LOAD SIDE ENCODER (b) LC192M (Absolute type) [Unit: mm] Tolerancing ISO 8015 ISO 2768-mH ML 119 0.03 76 0.2 0.2 F (ML/2 65) 0.2 (ML/2 30) 0.2 (n 100) 0.2 100 0.2 ML/2 18.5 1 40 0.2 ISO 4762-M5 20-8.8 ISO 4762-M5 20-8.8 (ISO 4762-M6 20-8.8) ISO 4762-M5 20-8.8...
  • Page 80 3. LOAD SIDE ENCODER (c) LIDA487 (Incremental type) [Unit: mm] = Example of scanning head installation F = Machine guide = Adjustment = Max. tilt angle for operation P = Measurement point for adjustment R = Home position S = Measurement length starting point A = Selecting magnet (for limit switch)
  • Page 81 Heidenhain Heidenhain a load side (Option manufactured by should be prepared by Corporation) Corporation) encoder cable Mitsubishi Electric the customer.) (This should be (This should be Corporation) 17-pin coupling (female) prepared by the prepared by the (Refer to section 3.4.) 291697-26 customer.)
  • Page 82 3. LOAD SIDE ENCODER 2) Production of load side encoder cable Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below. The load side encoder cable can be produced as the length of max. 30m. The following diagram shows a connecting example of more than 5m to 10m.
  • Page 83 (Option manufactured customer.) customer.) encoder cable by Mitsubishi Electric D-SUB15 pin (female) Corporation) (Refer to section 3.4.) Note. For details, contact with Heidenhain Corporation. 2) Production of load side encoder cable Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below.

  • Page 84: Linear Encoder Manufactured By Sony Manufacturing Systems Corporation (Incremental Type)

    3. LOAD SIDE ENCODER 3.2.3 Linear encoder manufactured by Sony Manufacturing Systems Corporation (Incremental type) (1) Specifications Item Specifications Interpolator model MJ830/MJ831 MJ830/MJ831 Linear encoder model SL710 PL101-R/RH SH13 System Magnetic detection system Optical detection system Effective measurement length 50 to 3000mm 70 to 1240mm Resolution Min.
  • Page 85 3. LOAD SIDE ENCODER (2) Linear encoder unit structure Note that the increasing/decreasing directions change depending on the interpolator (MJ830/MJ831) settings. The following figure shows the moving direction when the MODE switch of the interpolator (MJ830/MJ831) is set to 5. Always set an linear encoder home position (reference mark).
  • Page 86 3. LOAD SIDE ENCODER (b) PL101 [Unit: mm] <PL101-RH (IP67 type)> <PL101-N/PL101-R (IP50 type)> Effective measurement length (ML) Effective measurement length (ML) (20) (20) Full length = effective measurement length + 40 Full length = effective measurement length + 40 11.5 Cable length: 3000mm Cable length: 3000mm...
  • Page 87 Accessories for linear encoder MJ830 or MJ831 MR-J3CN2 Interpolator Cable Length (Option manufactured (This should be prepared PL101-R: 0.3m by Mitsubishi Electric by the customer.) PL101-RH: 3m Corporation) Connector: 10114- SH13 Accessories for linear encoder (Refer to section 3.4.) 3000PE...
  • Page 88 3. LOAD SIDE ENCODER 2) Production of load side encoder cable Produce the load side encoder cable using MR-J3CN2 or a connector for interpolator as shown below. The load side encoder cable can be produced as the length of max. 30m. Supply linear encoder power from external.

  • Page 89: Linear Encoder Manufactured By Renishaw Inc. (Incremental Type)

    3. LOAD SIDE ENCODER 3.2.4 Linear encoder manufactured by Renishaw Inc. (Incremental type) (1) Specifications Item Specifications Model RGH26P RGH26Q RGH26R System Optical system Effective measurement length Maximum length 70000mm Resolution 0.5 m Accuracy (20 (68) [ ( )] 3 m/m (when compensation is made between two points) Supply power voltage 5V 5% Current consumption...
  • Page 90 2) Junction connector (This should be Accessories for linear encoder (Option manufactured by prepared by the customer.) Cable Length Mitsubishi Electric Corporation) D-SUB15 pin (female) 0.5m (Refer to section 3.4.) Note. Produce an encoder cable. An optional cable is not provided...
  • Page 91 3. LOAD SIDE ENCODER 2) Production of load side encoder cable Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below. The load side encoder cable can be produced as the length of max. 30m. Connector set (option) MR-J3CN2 Receptacle: 36210-0100PL...

  • Page 92: Abz-Phase Differential Output Load Side Encoder

    3. LOAD SIDE ENCODER 3.3 ABZ-phase differential output load side encoder This section describes the connecti on of the ABZ-phase differential output load side encoder. Prepare the MR- J3CN2 connector set for the load side encoder cable and produce it according to the wiring diagram in (3) in this section.
  • Page 93 3. LOAD SIDE ENCODER (3) Internal wiring diagram For production of the load side encoder cable, use a cable durable against the long period of flexing action. Even though the cable length is max. 30m for the RS-422 communication, the length may be shortened due to the power supply voltage drop or the specifications of linear encoder.
  • Page 94 3. LOAD SIDE ENCODER 2) When the consumption current of the load side encoder is more than 350mA POINT When turning on the power, turn on the load side encoder and then turn on the servo amplifier. When turning off the power, turn off the servo amplifier and then turn off the load side encoder.

  • Page 95: Mitsubishi Optional Cable Connector Sets

    3. LOAD SIDE ENCODER 3.4 Mitsubishi optional cable connector sets POINT Protective structure indicated for cables and connecters is for a cable or connector alone. When the cables and connectors are used to connect the servo amplifier and servo motor, and if protective structures of the servo amplifier and servo motor are lower than that of the cable and connector, specifications of the servo amplifier and servo motor apply.
  • Page 96 3. LOAD SIDE ENCODER MR-EKCBL M-H Cable model 1) CN2 connector 2) Junction connector MR-EKCBL Connector set: 54599-1019 Housing: 1-172161-9 (Molex or equivalent) Connector pin: 170359-1 (Tyco Electronics or equivalent) (Note) Signal layout Cable clamp: MTI-0002 (Toa Electric Industries) MRR2 Signal layout View seen from wiring side.

  • Page 97: Mr-Ecnm

    3. LOAD SIDE ENCODER 3.4.2 MR-ECNM The following shows the connector combination for this connector set. Parts/Tool Description Connector set MR-ECNM For CN2 connector Junction connector Connector set: 54599-1019 Housing: 1-172161-9 (Molex) Connector pin: 170359-1 (Tyco Electronics or equivalent) Cable clamp: MTI-0002 (Toa Electric Industries) 3.4.3 MR-J3CN2 The following shows the details of this connector set.

  • Page 98: Operation And Functions

    4. OPERATION AND FUNCTIONS 4. OPERATION AND FUNCTIONS 4.1 Startup 4.1.1 Startup procedure Start up the fully closed loop system in the following procedure. Completion of installation and wiring Adjustment and operation check in semi closed loop system Check that the servo equipment Positioning operation check using servo configuration software is normal.

  • Page 99: Selection Of Fully Closed Loop System

    4. OPERATION AND FUNCTIONS 4.1.2 Selection of fully closed loop system By setting parameter No.PA01, PE01 and the control command of controller, the following operations can be made. Semi closed loop control/fully Parameter No. Parameter No. Absolute position closed loop control change Command unit Control method PA01...

  • Page 100: Selection Of Load Side Encoder Communication System

    4. OPERATION AND FUNCTIONS 4.1.3 Selection of load side encoder communication system The communication system change depending on the load side encoder type. Refer to 3.1 for the communication system of the load side encoder. Select the cable to be connected to CN2L connector in parameter No.PC26. Parameter No.PC26 Load side encoder cable communication system selection 0: 2-wire type...

  • Page 101: Setting Of Feedback Pulse Electronic Gear

    4. OPERATION AND FUNCTIONS 4.1.5 Setting of feedback pulse electronic gear POINT If setting a wrong value in the feedback pulse electronic gear (parameter No.PE04, PE05, PE34, PE35), a parameter error (37) and an abnormal operation may occur. Also, a fully closed loop control error (42) may occur during the positioning operation.
  • Page 102 4. OPERATION AND FUNCTIONS (2) Setting example when using the rotary encoder for the load side encoder of roll feeder Condition Servo motor resolution: 262144pulse/rev Pulley diameter on the servo motor side: 30mm Pulley diameter on the servo motor side: 20mm Rotary encoder resolution: 5000pulse/rev (20000 pulse/rev after multiplication by 4) Driving part...

  • Page 103: Confirmation Of Load Side Encoder Position Data

    4. OPERATION AND FUNCTIONS 4.1.6 Confirmation of load side encoder position data Check the load side encoder mounting and parameter settings for any problems. POINT Depending on the check items, the Servo Configuration software may be used. Refer to section 4.6 for the data displayed on the Servo Configuration software.

  • Page 104: Setting Of Fully Closed Loop Dual Feedback Filter

    4. OPERATION AND FUNCTIONS 4.1.7 Setting of fully closed loop dual feedback filter With the initial value (setting = 10) set in parameter No.PE08, make gain adjustment by auto tuning, etc. as in semi closed loop control. While observing the servo operation waveform with the graph function, etc. of the servo configuration software, adjust the dual feedback filter.

  • Page 105: Home Position Return Operation

    4. OPERATION AND FUNCTIONS 4.2 Home position return operation 4.2.1 General precautions Home position return operation is all performed according to the load side encoder feedback data, independently of the load side encoder type. It is irrelevant to the Z-phase position of the motor encoder. In the case of a home position return using a dog signal, the scale home position (reference mark) must be passed through when an incremental type linear encoder is used, or the Z-phase be passed through when a rotary encoder is used, during a period from a home position return start until the dog signal turns off.
  • Page 106 4. OPERATION AND FUNCTIONS (2) About proximity dog type home position return using incremental linear encoder (a) When the linear encoder home position (reference mark) exists in the home position return direction When an incremental linear encoder is used, the home position is the position per servo motor revolution to the Linear encoder home position (reference mark) passed through first after a home position return start.
  • Page 107 4. OPERATION AND FUNCTIONS (3) About dog type home position return when using the ABZ-phase pulse train specification rotary encoder The home position using a ABZ-phase pulse train specification rotary encoder as a load side encoder is as described below. It is the position per servo motor revolution, starting at the position where the Z-phase of the load side encoder is passed through first after power-on of the servo amplifier.
  • Page 108 4. OPERATION AND FUNCTIONS To always make a home position return to the same position, perform the following operation. Once move the rotary encoder to the stroke end opposite to the home position return direction with the JOG operation of controller, etc. and then perform a home position return. Machine position Rotary encoder home position Stroke end...

  • Page 109: Operation From Controller

    4. OPERATION AND FUNCTIONS 4.3 Operation from controller The fully closed loop control compatible servo amplifier can be used with any of the following controllers. Servo system controller Model Remarks Q17 DCPU/ Speed control (II) instructions (VVF and VVR) cannot Motion controller Q17 HCPU be used.
  • Page 110 4. OPERATION AND FUNCTIONS (1) When using a linear encoder (unit setting: mm) Load side resolution unit User Controller Servo amplifier Command [mm] Servo motor Linear encoder Position feedback [mm] Electronic gear Speed feedback Differential Motor speed [r/min] Load side resolution unit Calculate the number of pulses (AP) and movement amount (AL) of the linear encoder per ball screw revolution in the following conditions.

  • Page 111: Functions

    4. OPERATION AND FUNCTIONS 4.4 Functions 4.4.1 Fully closed loop control error detection If fully closed loop control becomes instable for some reason, the speed at servo motor side may increase abnormally. The fully closed loop control error detection function is a protective function designed to pre-detect it and stop operation.

  • Page 112: Auto Tuning Function

    4. OPERATION AND FUNCTIONS (b) Position difference error detection Set " 2" in parameter No.PA03 to make the position deviation error detection valid. Parameter No.PE03 Position difference error detection Comparing the motor side feedback position (2)) and load side feedback position (4)), if the difference is not less than the set value (1 to 20000kpulse) of parameter No.PE07 (fully closed loop control position deviation error detection level), the function generates an alarm (fully closed loop control error detection (42)) and stops.

  • Page 113: Test Operation

    4. OPERATION AND FUNCTIONS 4.4.4 Test operation Test operation can be performed by combining the Servo Configuration software that runs on the personal computer and the servo amplifier. This servo amplifier cannot use motor-less operation. For details on the test operation, refer to the MR-J3- B Servo Amplifier Instruction Manual. Function Item Usability...

  • Page 114: About Mr Configurator

    4. OPERATION AND FUNCTIONS 4.6 About MR Configurator Using MR Configurator can confirm if the parameter setting is normal or if the servo motor and the load side encoder operate properly. (1) Batch monitor display Select "MR-J3-B fully closed loop" in the system setting of the setup menu. Name Explanation Unit...
  • Page 115 4. OPERATION AND FUNCTIONS Name Explanation Unit Peak load ratio The maximum occurrence torque is displayed. The maximum value for the past 15 seconds is displayed considering a rated torque as 100%. Instantaneous occurrence torque The instantaneous occurrence torque is displayed. The value of torque being occurred is displayed in real time considering a rated torque as 100%.
  • Page 116 4. OPERATION AND FUNCTIONS (2) Fully closed loop diagnostic screen Select the fully closed loop diagnostics of the diagnostics menu. Click "Monitor start" to constantly read the monitor display items from the servo amplifier. Then, click "Monitor stop" to stop reading. Click "Parameter read"...
  • Page 117 4. OPERATION AND FUNCTIONS Symbol Name Explanation Unit Encoder information The load side encoder information is displayed. The display contents differ depending on the load side encoder type. ID: The ID No. of the load side encoder is displayed. Data 1: For the incremental type linear encoder, the counter from powering ON is displayed.
  • Page 118 4. OPERATION AND FUNCTIONS Symbol Name Explanation Unit Parameter (fully closed loop The parameter for the fully closed loop control is displayed/set. selection) Click "Details" button to display the "Parameter – Fully closed selection" window. 1) Fully closed loop function (Parameter No.PE01) Select "Always valid"...
  • Page 119 4. OPERATION AND FUNCTIONS MEMO 4 - 22...

  • Page 120: Parameters

    5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. POINT This chapter describes the parameters unique to the fully closed loop control compatible servo amplifier MR-J3- B-RJ006. For the same parameters as those of MR-J3- B servo amplifier, refer to chapter 5 of the MR-J3- B Servo Amplifier Instruction Manual.

  • Page 121: Parameter List

    5. PARAMETERS 5.1.1 Parameter list Symbol Name Initial value Unit Reference PA01 **STY Control mode 0000h Section 5.1.3 PA02 **REG Regenerative option 0000h Chapter 5 of the MR-J3- B Servo Amplifier Instruction Manual PA03 *ABS Absolute position detection system 0000h Section 5.1.4 PA04 *AOP1...

  • Page 122: Parameter Write Inhibit

    5. PARAMETERS 5.1.2 Parameter write inhibit Parameter Initial value Unit Setting range Symbol Name PA19 *BLK Parameter write inhibit 000Fh Refer to the text. 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 basic setting parameter, gain/filter parameter, extension setting parameter, I/O setting parameter and extension control parameter settings.

  • Page 123: Selecting A Control Mode

    5. PARAMETERS 5.1.3 Selecting a control mode Parameter Initial value Unit Setting range Symbol Name PA01 **STY Control mode 0000h Refer to the text. POINT This parameter value and switch power off once, then switch it on again to make that parameter setting valid. Select a control mode.

  • Page 124: In-Position Range

    5. PARAMETERS 5.1.5 In-position range Parameter Initial value Unit Setting range Symbol Name PA10 In-position range pulse 0 to 65535 POINT This parameter cannot be used in the speed control mode. Set the range, where ln position (INP) is output, in the command pulse unit. For the semi closed loop system, set it in the motor encoder unit.
  • Page 125 5. PARAMETERS (1) For output pulse designation Set " 0 " (initial value) in parameter No.PC03. When parameter No.PC03 has been set to " 1 ", the parameter error (37) occurs. Set the number of pulses per servo motor revolution. Output pulse set value [pulses/rev] For instance, set "5600"...

  • Page 126: Gain/Filter Parameters (No.pb )

    5. PARAMETERS 5.2 Gain/filter parameters (No.PB POINT The gain/filter parameter (No.PB ) is the same as that of MR-J3 B servo amplifier. For details, refer to the MR-J3- B Servo Amplifier Instruction Manual. Parameter whose symbol is preceded by * is made valid with the following conditions.
  • Page 127 5. PARAMETERS Symbol Name Initial value Unit Reference PB40 For manufacturer setting PB41 1125 Chapter 5 of the PB42 1125 MR-J3- B Servo Amplifier Instruction PB43 0004h Manual PB44 PB45 0000h 5 - 8...

  • Page 128: Extension Setting Parameters (No.pc )

    5. PARAMETERS 5.3 Extension setting parameters (No.PC POINT 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.

  • Page 129: List Of Details

    5. PARAMETERS 5.3.2 List of details Initial Setting Symbol Name and function Unit value range PC01 Error excessive alarm level (Note 2) This parameter cannot be used in the speed control mode. (Note 1) Set the error excessive alarm level with rotation amount for the servo motor shaft. Note 1.
  • Page 130 5. PARAMETERS Initial Setting Symbol Name and function Unit value range PC09 MOD1 Analog monitor 1 output 0000h Refer to Used to selection the signal provided to the analog monitor 1 (MO1) output. (Refer to Name section 5.3.3) function column. Analog monitor 1 (MO1) output selection Setting Item...
  • Page 131 5. PARAMETERS Initial Setting Symbol Name and function Unit value range PC26 ** COP8 Function selection C-8 0100h Refer to Used to select the communication system of the serial interface encoder cable to be Name connected to the CN2L connector. function column Load side encoder cable communication system selection...

  • Page 132: Analog Monitor

    5. PARAMETERS 5.3.3 Analog monitor The servo status can be output to two channels in terms of voltage. The servo status can be monitored using an ammeter. (1) Setting Change the following digits of parameter No.PC09,PC10. Parameter No.PC09 Analog monitor (MO1) output selection (Signal output to across MO1-LG) Parameter No.PC10 Analog monitor (MO2) output selection...
  • Page 133 5. PARAMETERS Setting Output item Description Setting Output item Description CCW direction CCW direction Motor side droop Motor side droop 10[V] 10[V] pulses (Note 1) pulses (Note 1) ( 10V/100 pulses) ( 10V/1000 pulses) 100[pulse] 1000[pulse] 100[pulse] 1000[pulse] 10[V] 10[V] CW direction CW direction CCW direction...
  • Page 134 5. PARAMETERS (3) Analog monitor block diagram (fully closed loop) Speed Current Droop pulse Bus voltage command command Current Servo Speed Differential encoder motor command Position Speed Current Load side Position command control control encoder control Encoder Current feedback Servo motor Differential Torque speed...

  • Page 135: I/O Setting Parameters (No.pd )

    5. PARAMETERS 5.4 I/O setting parameters (No.PD POINT 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. 5.4.1 Parameter list No.

  • Page 136: Extension Control Parameters (No.pe )

    5. PARAMETERS 5.5 Extension control parameters (No.PE POINT 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.

  • Page 137: List Of Details

    5. PARAMETERS 5.5.2 List of details Initial Setting Symbol Name and function Unit value range PE01 **FCT1 Fully closed loop Selection 1 0000h Refer to Select the semi closed loop control/fully closed loop control. Name Parameter No.PE01 function column. Fully closed loop control selection 0: Always fully closed loop control 1: Selection using the control command of controller Selection using the...
  • Page 138 5. PARAMETERS Initial Setting Symbol Name and function Unit value range PE06 Fully closed loop control speed deviation error detection level r/min Used to set the speed deviation error detection level of the fully closed loop control error detection. 50000 Valid/invalid of this function can be selected in parameter No.PE03(FCT2).
  • Page 139 5. PARAMETERS Initial Setting Symbol Name and Function Unit Value Range PE28 For manufacturer setting 0000h PE29 0000h Do not change this value by any means. PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 **FBN2 Fully closed loop control feedback pulse electronic gear 2 numerator Used to set the numerator of the electronic gear to the motor encoder pulse.

  • Page 140: Troubleshooting

    6. TROUBLESHOOTING 6. TROUBLESHOOTING POINT Alarms and warnings are basically the same as those of MR-J3- B servo amplifier. This chapter describes the contents different from those of MR-J3- B servo amplifier. As soon as an alarm occurs, make the servo off status and interrupt the main circuit power.

  • Page 141: Remedies For Alarms

    6. TROUBLESHOOTING 6.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION As soon as an alarm occurs, mark Servo-off and power off the main circuit and control circuit.
  • Page 142 6. TROUBLESHOOTING Display Name Definition Cause Action Linear encoder Working 1. The temperature of linear encoder is Check the temperature of linear encoder and error 2 environment of linear high. contact with the linear encoder encoder is not manufacturer. normal. 2.
  • Page 143 6. TROUBLESHOOTING Display Name Definition Cause Action Load side An error occurs in the 1. CN2L connector is disconnected. Connect correctly. encoder error 1 communication 2. Faulty of the load side encoder Repair or change the cable. between the load cable side encoder and the 3.

  • Page 144: Detailed Explanation Of Linear Encoder Error 1 (2A)

    6. TROUBLESHOOTING 6.3 Detailed explanation of linear encoder error 1 (2A) If the cause of Linear encoder error 1(2A) occurrence is not identified, confirm the details shown on the following table according to the alarm detailed information for the alarm history display of MR Configurator, and then contact with the linear encoder manufacturer.
  • Page 145 6. TROUBLESHOOTING MEMO 6 - 6...

  • Page 146: Outline Drawings

    7. OUTLINE DRAWINGS 7. OUTLINE DRAWINGS POINT For the outline drawings of connectors, refer to section 9.2 of the MR-J3- B Servo Amplifier Instruction Manual. For the connector for CN2L, refer to the outline drawings of the connector for CN2 since it is the same as that for CN2.
  • Page 147 7. OUTLINE DRAWINGS (2) MR-J3-40B-RJ006 MR-J3-60B-RJ006 MR-J3-40B1-RJ006 [Unit: mm] 6 mounting hole Approx. 80 Approx. 170 (Note) CNP1 (Note) CNP2 CNP3 Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 1.0 [kg] (2.21 [lb]) Terminal signal layout For 3-phase or...
  • Page 148 7. OUTLINE DRAWINGS (3) MR-J3-70B-RJ006 MR-J3-100B-RJ006 [Unit: mm] 6 mounting hole Approx. 80 CNP1 CNP2 CNP3 Cooling fan wind direction Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout Approx. 60 PE terminal CNP1 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw CNP2 Approx.
  • Page 149 7. OUTLINE DRAWINGS (4) MR-J3-60B4-RJ006 MR-J3-100B4-RJ006 [Unit: mm] Approx. 80 6 mounting hole CNP1 CNP2 CNP3 12 42 Approx. 25.5 Mass: 1.7 [kg] (3.75 [lb]) Terminal signal layout Approx. 60 PE terminal CNP1 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw CNP2 42 0.3...
  • Page 150 7. OUTLINE DRAWINGS (5) MR-J3-200B(4)-RJ006 POINT Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200B- RJ006 servo amplifier have been changed from April 2008 production. For existing servo amplifier, refer to appendix 4. [Unit: mm] 6 mounting hole Approx. 80 CNP1 CNP2 CNP3...
  • Page 151 7. OUTLINE DRAWINGS (6) MR-J3-350B-RJ006 [Unit: mm] 6 mounting hole Approx. 80 21.4 Cooling fan wind direction Mass: 2.3 [kg] (5.07 [lb]) Terminal signal layout Approx. 90 PE terminal CNP1 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw CNP3 Approx.
  • Page 152 7. OUTLINE DRAWINGS (7) MR-J3-350B4-RJ006 MR-J3-500B(4)-RJ006 [Unit: mm] Approx. 80 6 mounting hole 131.5 68.5 Cooling fan wind direction Terminal layout (Terminal cover open) Cooling fan 3 places for ground (M4) Mass: 4.6 [kg] (10.1 [lb]) Terminal signal layout Approx. 130 Approx.
  • Page 153 7. OUTLINE DRAWINGS (8) MR-J3-700B(4)-RJ006 [Unit: mm] 2- 6 mounting hole Approx. 80 Terminal layout Cooling fan (Terminal cover open) wind direction Cooling fan 3 places for ground (M4) Mass: 6.2 [kg] (13.7[lb]) Terminal signal layout Approx. 172 Approx. 6 Approx.
  • Page 154 7. OUTLINE DRAWINGS (9) MR-J3-11KB(4)-RJ006 to 22KB(4)-RJ006 [Unit: mm] Approx. 80 Cooling fan 12 mounting hole wind direction For MR-J3BAT mounted Rating plate 123.5 52 6 26 156 Approx. 260 Approx. 12 Approx. 12 4-M10 screw Mass ([lb]) Servo amplifier MR-J3-11KB(4)-RJ006 18.0 (40) MR-J3-15KB(4)-RJ006...
  • Page 155 7. OUTLINE DRAWINGS MEMO 7 - 10...

  • Page 156: Appendix

    APPENDIX App. 1 Parameter list POINT 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.
  • Page 157 APPENDIX Extension setting parameters (PC I/O setting parameters (PD No. Symbol Name Symbol Name PC01 Error excessive alarm level PD01 For manufacturer setting PC02 MBR Electromagnetic brake sequence PD06 output PC03 *ENRS Encoder output pulses selection PC04 **COP1 Function selection C-1 PD07 *D01 Output signal device selection 1 (CN3-pin 13)
  • Page 158 APPENDIX App. 3 Change of connector sets to the RoHS compatible products The following connector sets have changed to RoHS compliant since September 2006. RoHS compliant and non-RoHS compliant connector sets may be mixed based on availability. Only the components of the connector set that have changed are listed below. Model Current product RoHS compatible product...
  • Page 159 APPENDIX App. 4 MR-J3-200B-RJ006 servo amplifiers manufactured before March 2008 Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200B-RJ006 servo amplifier have been changed from April 2008 production. The difference between new MR-J3-200B-RJ006 servo amplifier and existing servo amplifier is described in this appendix. Sections within parentheses in the following sections indicate corresponding sections of the instruction manual.
  • Page 160 APPENDIX App. 4.2 Configuration including auxiliary equipment (1.9 Configuration including auxiliary equipment) R S T (Note 3) Power supply No-fuse breaker (NFB) or fuse Personal computer MR Configurator Magnetic contactor (MC) Servo amplifier (Note 1) Line noise filter Junction (FR-BSF01) terminal block Servo system...
  • Page 161 APPENDIX App. 4.3 Outline drawings (Chapter 7 OUTLINE DRAWINGS) [Unit: mm] 6 mounting hole Approx. 80 21.4 Cooling fan wind direction Mass: 2.3 [kg] (5.07 [lb]) Terminal signal layout Approx. 90 PE terminal CNP1 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw CNP3 Approx.
  • Page 162 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar, 2006 SH(NA)030056-A First edition Nov., 2007 SH(NA)030056-B Safety Instructions 1.To prevent Part of sentences changed electric shock 2.To prevent fire Part of sentences changed 4.Additional Table partially changed...
  • Page 163 Print Data *Manual Number Revision Nov., 2007 SH(NA)030056-B Section 2.4 Connector pin layout figure changed Section 3.1 “ST743” and “LC192M” added to linear encoder list and partially changed Section 3.2.1 (1) Linear scale “ST743” added Section 3.2.1 (3) Linear scale “ST743” added in table Section 3.2.1 (4) Connector pin layout figure changed (a) 2)
  • Page 164 Print Data *Manual Number Revision May, 2008 SH(NA)030056-C (2) Wiring “Connect the output terminals (U,V,W) correctly. Otherwise, the servo motor will operate improperly” changed to “Connect the wires to the correct phase terminals (U,V,W) of the servo amplifier and servo motor. Not doing so may cause unexpected operation.”...
  • Page 165 SH(NA)030056-C...
  • Page 166 MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030056-C (0805) MEE Printed in Japan Specifications subject to change without notice.

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