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Mitsubishi Electric MELSERVO MR-J3-xT Instruction Manual

Servo amplifier
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MELSERVO MR-J3-xT
Servo Amplifier
Instruction manual
General Purpose AC Servo
MELSERVO-J3 series
Bulit-in positioning function model
CC-Link
Distributor
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Summary of Contents for Mitsubishi Electric MELSERVO MR-J3-xT

  • Page 1 MELSERVO MR-J3-xT Servo Amplifier Instruction manual General Purpose AC Servo MELSERVO-J3 series Bulit-in positioning function model CC-Link Distributor for:...
  • Page 2 EPA Drives Thank you for choosing to work with EPA! EPA - your competent partner for Mitsubishi Electric when it comes to individual service & comprehensive services. If you have any questions about the product, please feel free to call us: Tel: +49 (0)6181 – 9704 – 0 You can find the latest information about us and our products at www.epa.de.
  • Page 3 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 4 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work.
  • Page 5 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 6 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly.
  • Page 7 (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 8 (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 9 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 10 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 11 (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. (IP54). (4) Power supply (a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of overvoltage category III set forth in IEC60664-1.
  • Page 12 (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 14.10. Use a type B (Note) breaker. When it is not used, provide insulation between the servo amplifier and other device by double insulation or reinforced insulation, or install a transformer between the main power supply and servo amplifier.
  • Page 13 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J3-10T to MR-J3-22KT MR-J3-10T1 to MR-J3-40T1 Servo motor :HF-MP HF-KP HF-SP HC-RP HC-UP HC-LP HA-LP (2) Installation Install a fan of 100CFM (2.8m...
  • Page 14 (5) Options and auxiliary equipment Use UL/C-UL standard-compliant products. This servo amplifier is UL/C-UL-listed when using the fuses indicated in the following table. When the servo amplifier must comply with the UL/C-UL Standard, be sure to use these fuses. Fuse Servo amplifier Class Current [A]...

  • Page 15: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -28 1.1 Introduction............................... 1 - 1 1.1.1 Features of CC-Link communication functions ................1 - 1 1.1.2 Function block diagram........................1 - 2 1.1.3 System configuration......................... 1 - 5 1.2 Servo amplifier standard specifications....................1 - 7 1.3 Function list ..............................
  • Page 16 3.6.3 Remote register-based position/speed setting................3 -37 3.7 Function-by-function programming examples..................3 -40 3.7.1 System configuration example......................3 -40 3.7.2 Reading the servo amplifier status ....................3 -41 3.7.3 Writing the operation commands..................... 3 -42 3.7.4 Reading the data ..........................3 -43 3.7.5 Writing the data ..........................
  • Page 17 5. STARTUP 5 - 1 to 5 -58 5.1 Switching power on for the first time ....................... 5 - 1 5.1.1 Startup procedure..........................5 - 1 5.1.2 Wiring check ............................5 - 2 5.1.3 Surrounding environment........................5 - 3 5.2 Startup ..............................5 - 4 5.2.1 Power on and off procedures......................
  • Page 18 6.1.7 Feeding function selection ........................ 6 - 5 6.1.8 Electronic gear........................... 6 - 6 6.1.9 Auto tuning ............................6 - 7 6.1.10 In-position range..........................6 - 8 6.1.11 Torque limit............................6 - 9 6.1.12 Selection of servo motor rotation direction..................6 -10 6.1.13 Encoder output pulse ........................
  • Page 19 8.5.1 Outline of screen transition ....................... 8 - 7 8.5.2 MR-PRU03 parameter unit setting ....................8 - 8 8.5.3 Monitor mode (status display)......................8 - 9 8.5.4 Alarm/diagnostic mode ........................8 -11 8.5.5 Parameter mode..........................8 -13 8.5.6 Point table mode ..........................8 -14 8.5.7 Test operation mode ........................
  • Page 20 12.2 Connector for CN3 ..........................12- 8 13. CHARACTERISTICS 13- 1 to 13- 8 13.1 Overload protection characteristics ...................... 13- 1 13.2 Power supply equipment capacity and generated Loss ..............13- 3 13.3 Dynamic brake characteristics......................13- 6 13.4 Cable flexing life............................ 13- 8 13.5 Inrush currents at power-on of main circuit and control circuit ............
  • Page 21 15.4 Command and data No. list ......................... 15-10 15.4.1 Read commands ........................... 15-10 15.4.2 Write commands ........................... 15-14 15.5 Detailed explanations of commands ....................15-17 15.5.1 Data processing ..........................15-17 15.5.2 Status display ..........................15-19 15.5.3 Parameters ............................ 15-20 15.5.4 External I/O signal statuses (DIO diagnosis) ................15-23 15.5.5 Device ON/OFF..........................
  • Page 22 MEMO...

  • Page 23: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MR-J3- T CC-Link compatible servo amplifier can support the CC-Link communication functions. Up to 42 axes of servo amplifiers can be controlled/monitored from the PLC side. As the servo, it has the function to perform positioning operation by merely setting the position data (target positions), servo motor speeds, acceleration and deceleration time constants, etc.

  • Page 24: Function Block Diagram

    1. FUNCTIONS AND CONFIGURATION 1.1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J3-350T or less Power factor Regenerative improving DC reactor option Servo amplifier Servo motor (Note2) (Note1) Power supply Current 3-phase detector or 1-phase CHARGE Regene-...
  • Page 25 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-500T MR-J3-700T Power factor improving DC Regenerative reactor option Servo motor Servo amplifier Power supply Current 3-phase detector 200 to CHARGE Regene- 230VAC lamp rative Dynamic brake Electro- Control magnetic circuit power brake supply Current Regenerative Base Voltage...
  • Page 26 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-11KT to 22KT Power factor Regenerative improving DC reactor option Servo amplifier Servo motor Power supply 3-phase Current detector 200 to 230VAC CHARGE Regene- lamp rative Electro- Control magnetic circuit brake power supply Base Voltage Current Regenerative Overcurrent...

  • Page 27: System Configuration

    1. FUNCTIONS AND CONFIGURATION 1.1.3 System configuration This section provides operations using this servo. Use of CC-Link enables you to freely configure any system from a single-axis system to an up to 42-axis system. Set the following values to the point table: Name Setting range Unit...
  • Page 28 1. FUNCTIONS AND CONFIGURATION (2) Operation using CC-Link communication functions and external input signals (a) Operation Using parameter No. PD06 to PD08 and parameter No. PD12, PD14, input signals can be assigned to the external input signals of CN1A and CN1B. The signals assigned to the external input signals cannot be used with the CC-Link communication functions.

  • Page 29: Servo Amplifier Standard Specifications

    1. FUNCTIONS AND CONFIGURATION 1.2 Servo amplifier standard specifications Servo Amplifier 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 MR-J3- Item 3-phase or 1-phase 200 1-phase 100V to Voltage/frequency 3-phase 200 to 230VAC, 50/60Hz to 230VAC, 50/60Hz 120VAC, 50/60Hz 3-phase or 1-phase 200...
  • Page 30 1. FUNCTIONS AND CONFIGURATION Servo Amplifier 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 MR-J3- Item Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position return Dog type direction may be selected.

  • Page 31: Function List

    1. FUNCTIONS AND CONFIGURATION Servo Amplifier 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 MR-J3- Item During [ ] (Note 2) 0 to 55 (non-freezing) operation Ambient [ ] 32 to 131 (non-freezing) temperature 20 to 65 (non-freezing) In storage...
  • Page 32 1. FUNCTIONS AND CONFIGURATION Function Description Reference The electronic gear is used to make adjustment so that the servo amplifier setting matches the machine moving distance. Also, changing the Parameter No. Electronic gear electronic gear value allows the machine to be moved at any multiplication PA06, PA07 ratio to the moving distance using the servo amplifier.

  • Page 33: Model Code Definition

    3PH+1PH200-230V 60Hz 1.3A 1PH 200-230V 50/60Hz Rated output current 170V 0-360Hz 1.1A OUTPUT : SERIAL : A34230001 Serial number PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model MR-J3-100T or less MR-J3-200T 350T With no regenerative resistor Series Symbol Description...

  • Page 34: Combination With Servo Motor

    1. FUNCTIONS AND CONFIGURATION 1.5 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes. Servo motors Servo amplifier HF-SP HF-MP HF-KP HC-RP HC-UP HC-LP 1000r/min 2000r/min MR-J3-10T (1)

  • Page 35: Structure

    1. FUNCTIONS AND CONFIGURATION 1.6 Structure 1.6.1 Parts identification (1) MR-J3-100T or less Detailed Name/Application Explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number. Baud rate switch (MODE) MODE Section 3.2.4 Select the CC-Link communication baud rate. Station number switches (STATION NO.) Set the station number of the servo amplifier.
  • Page 36 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200T MR-J3-350T Detailed Name/Application Explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number. Baud rate switch (MODE) MODE Section 3.2.4 Select the CC-Link communication baud rate. Station number switches (STATION NO.) Set the station number of the servo amplifier.
  • Page 37 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-500T POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Detailed Name/Application Explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number.
  • Page 38 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-700T POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Detailed Name/Application Explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number.
  • Page 39 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-11KT or more POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Detailed Name/Application Explanation Display Section 5.3 The 3-digit, seven-segment LED shows the servo Chapter 11 status and alarm number.

  • Page 40: Removal And Reinstallation Of The

    1. FUNCTIONS AND CONFIGURATION 1.6.2 Removal and reinstallation of the front cover Before removing or reinstalling the front cover, make sure that the charge lamp is WARNING off more than 15 minutes after power off. Otherwise, you may get an electric shock. (1) For MR-J3-700T or less Removal of the front cover ①...
  • Page 41 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab ① ① Insert the front cover setting tabs into the sockets of Pull up the cover, supporting at point servo amplifier (2 places). Settining tab Push the setting tabs until they click. 1 - 19...
  • Page 42 1. FUNCTIONS AND CONFIGURATION (2) For MR-J3-11KT or more Removal of the front cover ① ① ① 1) Press the removing knob on the lower side of the 3) Pull it to remove the front cover. front cover ( ) and release the installation hook.

  • Page 43: Configuration Including Auxiliary Equipment

    1. FUNCTIONS AND CONFIGURATION 1.7 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products. (1) MR-J3-100T or less (a) For 3-phase or 1-phase 200V to 230VAC R S T (Note3) 3-phase or 1-phase MR Configurator Personal...
  • Page 44 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC 1-phase 100V to 120VAC MR Configurator Personal power supply computer (Servo configuration software) No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) Power factor improving DC CC-Link reactor (Note2) (FR-BEL) Line noise filter...
  • Page 45 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200T MR-J3-350T R S T 3-phase 200V to 230VAC power supply No-fuse breaker (NFB) or fuse Magnetic contactor MR Configurator Personal (MC) computer (Servo configuration software) (Note2) (Note3) Servo amplifier Line noise filter (FR-BLF01) CC-Link (Note2) Power factor improving DC...
  • Page 46 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-500T R S T 3-phase 200V to 230VAC MR Configurator Personal power supply computer (Servo configuration software) No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) CC-Link (Note1) Line noise Battery unit filter (Note2) MR-J3BAT (FR-BLF01) I/O signal...
  • Page 47 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-700T R S T 3-phase 200V to 230VAC power supply MR Configurator Personal computer (Servo configuration software) No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) CC-Link (Note2) (Note1) Battery unit Line noise MR-J3BAT filter (FR-BLF01) I/O signal...
  • Page 48 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-11KT or more R S T 3-phase 200V to 230VAC Personal MR Configurator power supply computer (Servo configuration software) No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) (Note2) Line noise filter (FR-BLF01) CC-Link (Note1) Battery unit MR-J3BAT...

  • Page 49: Selection Of Operation Method

    1. FUNCTIONS AND CONFIGURATION 1.8 Selection of operation method Using the CC-Link communication functions, this servo enables a wide variety of operation methods. The operation method changes depending on the input signal, parameter and point table setting. The flow of the operation method that changes depending on the signal and parameter setting status is shown in the chart for your reference.
  • Page 50 1. FUNCTIONS AND CONFIGURATION Reference Main description Positioning is started by Positioning operation is Section 3.8.2 Point table making the start signal executed once with Section auxiliary fanction position data handled valid after selection of 5.4.2 (1) as absolute value. the point table with the remote input.

  • Page 51: Installation

    2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.
  • Page 52 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Mounting closely is available for a combination of servo amplifiers of 3.5kw or less. The servo amplifiers of 5kw or more can not be mounted closely. Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

  • Page 53: Keep Out Foreign Materials

    2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

  • Page 54: Inspection Items

    2. INSTALLATION 2.4 Inspection items Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. WARNING Any person who is involved in inspection should be fully competent to do the work.

  • Page 55: Cc-Link Communication Functions

    3. CC-LINK COMMUNICATION FUNCTIONS 3. CC-LINK COMMUNICATION FUNCTIONS 3.1 Communication specifications POINT This servo is equivalent to a remote device station. For details of the PLC side specifications, refer to the CC-Link system master unit manual. Item Specifications Power supply 5VDC supplied from servo amplifier Applicable CC-Link version Ver.1.10...

  • Page 56: System Configuration

    3. CC-LINK COMMUNICATION FUNCTIONS 3.2 System configuration 3.2.1 Configuration example (1) PLC side Fit "Type QJ61BT11N", "Type A1SJ61BT11" or "Type A1SJ61QBT11" "Control & Communication Link system master/local module" to the main or extension base unit which is loaded with the PLC CPU used as the master station.

  • Page 57: Wiring Method

    3. CC-LINK COMMUNICATION FUNCTIONS 3.2.2 Wiring method (1) Communication connector The pin layout of the communication connector CN10 on the servo amplifier unit is shown below. Servo amplifier (2) Connection example The servo amplifier and PLC CC-Link master unit are wired as shown below. Refer to section 14.9 (3) for the CC-Link Ver.1.10-compliant cable used for connection.
  • Page 58 3. CC-LINK COMMUNICATION FUNCTIONS (4) How to wire the CC-Link connector (CN1) (a) Strip the sheath of the cable and separate the internal wires and braided shield. (b) Strip the sheaths of the braided shield and internal wires and twist the cores. Braided shield Approx.

  • Page 59: Station Number Setting

    3. CC-LINK COMMUNICATION FUNCTIONS 3.2.3 Station number setting POINT Be sure to set the station numbers within the range of 1 to 64. Do not set the other values. (1) How to number the stations Set the servo station numbers before powering on the servo amplifiers. Note the following points when setting the station numbers: (a) Station numbers may be set within the range 1 to 64.

  • Page 60: Communication Baud Rate Setting

    3. CC-LINK COMMUNICATION FUNCTIONS 3.2.4 Communication baud rate setting Set the transfer baud rate of CC-Link with the transfer baud rate switch (MODE) on the servo amplifier front. The initial value is set to 156kbps. The overall distance of the system changes with the transfer speed setting. For details, refer to the CC-Link system master/local unit user's manual.

  • Page 61: Functions

    3. CC-LINK COMMUNICATION FUNCTIONS 3.3 Functions 3.3.1 Function block diagram This section explains the transfer of I/O data to/from the servo amplifier in CC-Link, using function blocks. (1) Between the master station and servo amplifier in the CC-Link system, link refresh is normally performed at intervals of 3.5 to 18ms (512 points).

  • Page 62: Servo Amplifier Setting

    3. CC-LINK COMMUNICATION FUNCTIONS 3.4 Servo amplifier setting (1) Servo amplifier side operation modes This servo amplifier has the following operation modes: Operation mode Description Parameter unit or personal computer in which MR Configurator is installed is used to run the Test operation mode servo motor.

  • Page 63: I/O Signals (I/O Devices) Transferred To/From The Plc Cpu

    3. CC-LINK COMMUNICATION FUNCTIONS 3.5 I/O signals (I/O devices) transferred to/from the PLC CPU 3.5.1 I/O signals (I/O devices) The input signals (input devices) may be used as either the CC-Link or CN6 external input signals. Make selection in parameter No. PD06 to PD11, PD12 and PD14. The output signals (output devices) can be used as both the CC-Link CN6 external output signals.
  • Page 64 3. CC-LINK COMMUNICATION FUNCTIONS (2) When 2 stations are occupied RXn/RYn: 64 points each, RWrn/RWwn: 8 points each Servo amplifier (RYn) Servo amplifier PLC (RXn) (Note 1) Signal (Note 1) Signal connector connector Signal name Signal name Device No. abbreviation Device No.
  • Page 65 3. CC-LINK COMMUNICATION FUNCTIONS Servo amplifier (RWwn) Servo amplifier PLC (RWrn) (Note 1) (Note 1) Signal name Signal name Address No. Address No. RWwn (Note 2) Monitor 1 RWrn Monitor 1 data under 16 bit RWwn+1 (Note 2) Monitor 2 RWrn+1 Monitor 1 data upper 16 bit RWwn+2...

  • Page 66: Detailed Explanation Of I/O Signals

    3. CC-LINK COMMUNICATION FUNCTIONS 3.5.2 Detailed explanation of I/O signals (1) Input signals The note signs in the remarks column indicates the following descriptions. 1: Can be used as external input signals of CN6 connector by setting parameters No. PD06 to PD08 and parameter No.
  • Page 67 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Proximity dog In the shipment status, the proximity dog external input signal RYn3 RYn3 (CN6-2) is valid. For use in CC-Link, make it usable in parameter No.
  • Page 68 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Monitor output execution When RYn8 is turned ON, the following data and signals are RYn8 RYn8 demand set. At the same time, RXC turns ON. While RYn8 is ON, the monitor values are kept updated.
  • Page 69 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Position instruction demand When RY(n+2)0 is turned ON, the point table No. or position RY(n+2)0 command data set to remote register RWwn+4/RWwn+5 is set. When it is set to the servo amplifier, the answer code indicating normal or error is set to RWrn+2.
  • Page 70 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description Remarks 1 station 2 stations occupied occupied Absolute value/incremental RY(n+2)B is made valid when the remote register-based RY(n+2)B value selection position/speed specifying system selected with Position/speed specifying system selection (RY(n+2)A) and the absolute value command system is selected in parameter No.
  • Page 71 3. CC-LINK COMMUNICATION FUNCTIONS (2) Output signals POINT The output devices can be used for both the remote output and the external output signals of CN6 connector. The signal whose Device No. field has an oblique line cannot be used in CC-Link. Device No.
  • Page 72 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station 2 stations occupied occupied Instruction code execution Refer to Instruction code execution demand (RYn9). RXn9 RXn9 completion Warning RXnA turns ON when a warning occurs. RXnA RXnA When no warning has occurred, RXnA turns OFF within about 1s after power-on.
  • Page 73 3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station 2 stations occupied occupied Trouble RX(n+1)A or RX(n+3)A turns ON when the protective circuit is RX(n+1)A RX(n+3)A activated to shut off the base circuit. When no alarm has occurred, RX(n+1)A or RX(n+3)A turns OFF within about 1s after power is switched ON.
  • Page 74 3. CC-LINK COMMUNICATION FUNCTIONS Remote register Signal name Description Setting range 1 station 2 stations occupied occupied RWwn+2 RWwn+2 Instruction code Sets the instruction code used to perform parameter or Refer to section point table data read and write, alarm reference or the like. 3.5.4 (1).
  • Page 75 3. CC-LINK COMMUNICATION FUNCTIONS (b) Output (Servo amplifier PLC) Note that the data set to RWrn and RWrn+1 depends on whether 1 station or 2 stations are occupied. If you set inappropriate code No. or data to the remote register input, the error code is set to Answer code (RWrn+2).

  • Page 76: Monitor Codes

    3. CC-LINK COMMUNICATION FUNCTIONS 3.5.3 Monitor codes To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the instruction codes 0101 to 011C to read the decimal point position (multiplying factor) of the status indication. Setting any code No.

  • Page 77: Instruction Codes (Rwwn+2 Rwwn+3)

    3. CC-LINK COMMUNICATION FUNCTIONS 3.5.4 Instruction codes (RWwn+2 RWwn+3) Refer to section 3.6.2 for the instruction code timing charts. (1) Read instruction codes The word data requested to be read with the instruction code 0000h to 0AFFh is read by Read code (RWrn+3).
  • Page 78 3. CC-LINK COMMUNICATION FUNCTIONS Reading data (RWrn+3) contents Code No. Item/Function (Servo amplifier PLC) 0040h Input signal status 0 bit 0 to bit F indicate the OFF/ON statuses of the corresponding input Reads the statuses (OFF/ON) of the input signals. Refer to section 3.5.1 for the meanings of the abbreviations. signals.
  • Page 79 3. CC-LINK COMMUNICATION FUNCTIONS Reading data (RWrn+3) contents Code No. Item/Function (Servo amplifier PLC) 0052h Output signal status 2 bit 0 to bit F indicate the OFF/ON statuses of the corresponding Reads the statuses (OFF/ON) of the Output output signals. Refer to section 3.5.1 for the meanings of the signals.
  • Page 80 3. CC-LINK COMMUNICATION FUNCTIONS Reading data (RWrn+3) contents Code No. Item/Function (Servo amplifier PLC) 0100h Monitor multiplying factor Reads the multiplying factor of the data to be 011Dh read with the monitor code. instruction codes 0100 011D Monitor multiplying factor correspond to the monitor codes 0000 to 0003: 1000...
  • Page 81 3. CC-LINK COMMUNICATION FUNCTIONS Reading data (RWrn+3) contents Code No. Item/Function (Servo amplifier PLC) 0601h Servo motor speed of point table No. 1 to The servo motor speed set to the requested point table No. is returned. 06FFh The decimal value converted from the 2 lower digits of the code No.
  • Page 82 3. CC-LINK COMMUNICATION FUNCTIONS Writing data (RWwn+3) contents Code No. Item (PLC Servo amplifier) 8201h Data RAM instruction of parameter Convert the decimal values into hexadecimal before Writes the set value of each No. of the parameter group making setting. 82FFh written by code No.8200h to RAM.
  • Page 83 3. CC-LINK COMMUNICATION FUNCTIONS Writing data (RWwn+3) contents Code No. Item (PLC Servo amplifier) 8801h Deceleration time constant data RAM command of point Convert the values into hexadecimal before making table setting. 88FFh Writes the deceleration time constants of point table No. 1 to 255 to RAM.

  • Page 84: Answer Codes (Rwrn+2)

    3. CC-LINK COMMUNICATION FUNCTIONS Writing data (RWwn+3) contents Code No. Item (PLC Servo amplifier) 9001h Dwell data EEP-ROM command of point table Convert the values into hexadecimal before making Writes the dwell data of point table No. 1 to 255 to EEP- setting.

  • Page 85: Setting The Cn6 External Input Signals

    3. CC-LINK COMMUNICATION FUNCTIONS 3.5.6 Setting the CN6 external input signals Using parameter No. PD06 to PD08, PD12 and PD14, you can assign the input signals as the CN6 external input signals. The signals assigned as the CN6 external input signals cannot be used in CC-Link. Refer to section 4.5.1 for the pins to which signals can be assigned.
  • Page 86 3. CC-LINK COMMUNICATION FUNCTIONS Parameter No.PD14 Initial value Device name Automatic/manual selection (MD0) Initial value Device name Temporary stop/Restart (TSTP) Initial value Device name Proximity dog (DOG) BIN 0: Used in CC-Link BIN 1: Used as CN6 external input signal 3 - 32...

  • Page 87: Data Communication Timing Charts

    3. CC-LINK COMMUNICATION FUNCTIONS 3.6 Data communication timing charts 3.6.1 Monitor codes (1) When 1 station is occupied Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor execution demand (RYn8) Monitoring (RXn8) Monitor 1 data (RWrn) Monitor 2 data (RWrn+1) Answer code (RWrn+2) Data HOLD Set the monitor codes (refer to section 3.5.3) to Monitor 1 (RWwn) and Monitor 2 (RWwn+1) and turn Monitor...
  • Page 88 3. CC-LINK COMMUNICATION FUNCTIONS (2) When 2 stations are occupied Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor execution demand (RYn8) Monitoring (RXn8) Monitor 1 data Under 16bit (RWrn) Monitor 1 data Upper 16bit (RWrn+1) Monitor 2 data Under 16bit (RWrn+5) Monitor 2 data Upper 16bit (RWrn+6) Answer code...

  • Page 89: Instruction Codes

    3. CC-LINK COMMUNICATION FUNCTIONS 3.6.2 Instruction codes (1) Read instruction codes (0000h to 0A1Fh) Instruction code (RWwn+2) Instruction code execution demand (RYn9) Instruction code execution completion (RXn9) Reading data (RWrn+3) Answer code (RWrn+2) Data read period Set the read instruction code (refer to section 3.5.4 (1)) to Instruction code (RWwn+2) and turn Instruction code execution demand (RYn9) to ON.
  • Page 90 3. CC-LINK COMMUNICATION FUNCTIONS (2) Write instruction codes (8000h to 911Fh) Instruction code (RWwn+2) Writing data (RWwn+3) Instruction code execution demand (RYn9) Instruction code Write in execution processing Instruction code execution completion (RXn9) Answer code (RWrn+2) Set the write instruction code (refer to section 3.5.4 (2)) to Instruction code (RWwn+2) and the data to be written (data to be executed) to Writing data (RWwn+3) in hexadecimal, and turn Instruction code execution demand (RYn9) to ON.

  • Page 91: Remote Register-Based Position/Speed Setting

    3. CC-LINK COMMUNICATION FUNCTIONS 3.6.3 Remote register-based position/speed setting The functions in this section are usable when Position/speed specifying system selection (RY(n+2)A) is ON (remote register-based position/speed specifying system is selected) with 2 stations occupied. The position command/speed command necessary for positioning can be selected by parameter No. PC30 setting as indicated below.
  • Page 92 3. CC-LINK COMMUNICATION FUNCTIONS (2) When setting the position command data/point table No. (speed command) Specify the position address with the remote register, and specify the speed command data by specifying the point table No. to use the preset servo motor speed, acceleration time constant and deceleration time constant the speed command data, and execute positioning.
  • Page 93 3. CC-LINK COMMUNICATION FUNCTIONS (3) When setting the position command data and speed command data Specify the position address and servo motor speed with the remote register, and execute positioning. At this time, use the acceleration time constant and deceleration time constant set in point table No. 1. Preset "...

  • Page 94: Function-By-Function Programming Examples

    3. CC-LINK COMMUNICATION FUNCTIONS 3.7 Function-by-function programming examples This section explains specific programming examples for servo operation, monitor, parameter read and write, and others on the basis of the equipment makeup shown in section 3.7.1. 3.7.1 System configuration example As shown below, the CC-Link system master local unit is loaded to run two servo amplifiers (1 station occupied / 2 stations occupied).

  • Page 95: Reading The Servo Amplifier Status

    3. CC-LINK COMMUNICATION FUNCTIONS 3.7.2 Reading the servo amplifier status Read the status of the servo amplifier from the master station buffer memory. The servo amplifier status is always stored in the remote input RX (addresses E0 to 15F ). Read the servo amplifier status of station 1 to M0 M31.

  • Page 96: Writing The Operation Commands

    3. CC-LINK COMMUNICATION FUNCTIONS 3.7.3 Writing the operation commands To operate the servo amplifier, write the operation commands to the remote output RY (addresses 160 ). Perform positioning operation of point table No. 2 for the servo amplifier of station 2. Servo-on command (RY00) Point table No.

  • Page 97: Reading The Data

    3. CC-LINK COMMUNICATION FUNCTIONS 3.7.4 Reading the data Read various data of the servo amplifier. (1) Reading the monitor value Read the (feedback pulse value) of the servo amplifier of station 2 to D1. Data No. Description H000A Cumulative feedback pulse data (hexadecimal) The answer code at instruction code execution is set to D9.
  • Page 98 3. CC-LINK COMMUNICATION FUNCTIONS (2) Reading the parameter Read parameter No. PA01 "Control mode" of the servo amplifier of station 2 to D1. Data No. Description H8200 Parameter group selection H2024 Parameter No. PA04 setting (hexadecimal) The answer code at instruction code execution is set to D9. Reads remote input of buffer memory (RX20 to RX5F) to M200 to M263.
  • Page 99 3. CC-LINK COMMUNICATION FUNCTIONS (3) Reading the alarm definition Read the alarm definition of the servo amplifier of station 2 to D1. Data No. Description H0010 Occurring alarm/warning No. (hexadecimal) The answer code at instruction code execution is set to D9. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263.

  • Page 100: Writing The Data

    3. CC-LINK COMMUNICATION FUNCTIONS 3.7.5 Writing the data This section explains the programs for writing various data to the servo amplifier. (1) Writing the servo motor speed data of point table Change the servo motor speed data in the speed block No. 1 of the servo amplifier of station 2 to "100". Code No.
  • Page 101 3. CC-LINK COMMUNICATION FUNCTIONS (2) Writing the parameter Change parameter No. PC12 (JOG speed) of the servo amplifier of station 2 to "100". The parameter group PC is specified as follows. Code No. Description 8200h Parameter group selection Set data Description Set data (decimal) The parameter No.12 is changed to "100"...
  • Page 102 3. CC-LINK COMMUNICATION FUNCTIONS (3) Servo amplifier alarm resetting program examples (a) Deactivate the alarm of the servo amplifier of station 2 by issuing a command from the PLC. This method is limited to servo alarm occurrence. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263.

  • Page 103: Operation

    3. CC-LINK COMMUNICATION FUNCTIONS 3.7.6 Operation This section explains the operation programs of the servo amplifier. (1) JOG operation Perform JOG operation of the servo amplifier of station 1 and read the "current position" data. Code No. Description H0001 Lower 16-bit data of current position (hexadecimal) H0002 Upper 16-bit data of current position (hexadecimal) Reads remote input (RX00 to RX1F)
  • Page 104 3. CC-LINK COMMUNICATION FUNCTIONS (2) Remote register-based position data/speed data setting Operate the servo amplifier of station 2 after specifying the position data as "100000" and the speed data as "1000" in the direct specification mode. Preset " 2" in parameter No. PC30. Set data Description K100000...
  • Page 105 3. CC-LINK COMMUNICATION FUNCTIONS (3) Remote register-based point table No. setting (incremental value command system) Operate the servo amplifier of station 2 with incremental values after specifying the point table No. 5 in the direct specification mode. Preset " 1" in parameter No. PA01 and " 2"...

  • Page 106: Continuous Operation Program Example

    3. CC-LINK COMMUNICATION FUNCTIONS 3.8 Continuous operation program example This section shows a program example which includes a series of communication operations from a servo start. The program will be described on the basis of the equipment makeup shown in section 3.8.1, 3.8.3. 3.8.1 System configuration example when 1 station is occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifier (1 station occupied).

  • Page 107: Program Example When 1 Station Is Occupied

    3. CC-LINK COMMUNICATION FUNCTIONS 3.8.2 Program example when 1 station is occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No. PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "current position"...

  • Page 108: System Configuration Example When 2 Stations Are Occupied

    3. CC-LINK COMMUNICATION FUNCTIONS Command request time 10ms Positioning start command reset Point table No. selection command (bit0) Bit 0 selection Point table No. selection command (bit1) Bit 1 selection Point table No. selection command (bit2) Bit 2 selection Point table No. selection command (bit3) Bit 3 selection Point table No.

  • Page 109: Program Example When 2 Stations Are Occupied

    3. CC-LINK COMMUNICATION FUNCTIONS 3.8.4 Program example when 2 stations are occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No. PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "motor speed"...
  • Page 110 3. CC-LINK COMMUNICATION FUNCTIONS Positioning start In position Rough Home position return command match completion Writes position command data (K50000) to , RW , and speed data (K100) to Turns on position instruction demand (RY20). Turns on speed instruction demand (RY21). Reads RWR2 to D2 when position instruction execution completion (RX20) and speed instruction execution completion (RX21) turn on.

  • Page 111: Signals And Wiring

    4. SIGNALS AND WIRING 4. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 15 minutes, and after the charge lamp has gone off, make sure that the voltage is safe in the tester or like.

  • Page 112: Input Power Supply Circuit

    4. SIGNALS AND WIRING 4.1 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. Use the trouble signal to switch power off. Otherwise, a regenerative transistor CAUTION fault or the like may overheat the regenerative resistor, causing a fire.
  • Page 113 4. SIGNALS AND WIRING (2) For 1-phase 200 to 230VAC power supply to MR-J3-10T to MR-J3-70T Forced stop Servo amplifier Servo motor CNP1 1-phase CNP3 (Note 5) 200 to Motor 230VAC (Note 1) CNP2 (Note 2) (Note 3) Encoder Encoder cable 24VDC DOCOM (Note 4) Forced stop...
  • Page 114 4. SIGNALS AND WIRING (3) For 1-phase 100 to 120VAC power supply to MR-J3-10T1 to MR-J3-40T1 Forced stop Servo amplifier Servo motor CNP1 1-phase CNP3 (Note 5) 100 to Blank Motor 120VAC (Note 1) CNP2 (Note 2) (Note 3) Encoder Encoder cable 24VDC DOCOM...
  • Page 115 4. SIGNALS AND WIRING (4) MR-J3-500T MR-J3-700T Forced stop Servo amplifier Servo motor 3-phase (Note 5) Built-in 200 to regenerative Motor 230VAC resistor (Note 2) (Note 3) Encoder Encoder cable (Note 1) 24VDC DOCOM (Note 4) Forced stop DICOM DOCOM Trouble (Note 4) Note 1.
  • Page 116 4. SIGNALS AND WIRING (5) MR-J3-11KT to MR-J3-22KT Servo motor Forced thermal relay Trouble stop Servo amplifier Servo motor Dynamic break 3-phase 200 to 230VAC (Note 5) (Note 2) (Note 1) (Note 6) OHS1 OHS2 24VDC Servo motor power supply thermal relay 24VDC DOCOM...

  • Page 117: I/O Signal Connection Diagram

    4. SIGNALS AND WIRING 4.2 I/O signal connection diagram Servo amplifier (Note 4) (Note 2) 24VDC power Ready supply DICOM (Note 9) Trouble (Note 6) DOCOM Home position Forced stop (Note 3, 5) return completion Proximity dog 10m or less (Note 9) Forward rotation stroke end (Note 5)

  • Page 118: Explanation Of Power Supply System

    4. SIGNALS AND WIRING 4.3 Explanation of power supply system 4.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to outline drawings in chapter 10. Connection Target Abbreviation Description (Application) Supply the following power to L .

  • Page 119: Power-On Sequence

    4. SIGNALS AND WIRING 4.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above section 4.1 using the magnetic contactor with the main circuit power supply (three-phase: L , single-phase: L ). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 120 4. SIGNALS AND WIRING (3) Forced stop Provide an external forced stop circuit to ensure that operation can be stopped and CAUTION power switched off immediately. Make up a circuit that shuts off main circuit power as soon as EMG is turned off at a forced stop. When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop.

  • Page 121: Cnp1, Cnp2, Cnp3 Wiring Method

    4. SIGNALS AND WIRING 4.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to Table 14.1 in section 14.9 for the wire sizes used for wiring. MR-J3-500T or more does not have these connectors. Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3. (1) MR-J3-100T or less (a) Servo amplifier power supply connectors (Note)
  • Page 122 4. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L ): 721-2105/026-000 (WAGO) Using this connector enables passing a wire of control circuit power supply. Refer to Appendix 3 for details of connector. Twin type connector for CNP2 CNP2 Power supply Rear axis...
  • Page 123 4. SIGNALS AND WIRING (b) Termination of the cables 1) CNP1 CNP3 Solid wire: After the sheath has been stripped, the cable can be used as it is. Sheath Core Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole.
  • Page 124 4. SIGNALS AND WIRING (3) Insertion of cable into 54928-0610 54927-0510 and 54928-0310 (Molex) POINT It may be difficult for a cable to be inserted to the connector depending on wire size or bar terminal configuration. In this case, change the wire type or correct it in order to prevent the end of bar terminal from widening, and then insert it.
  • Page 125 4. SIGNALS AND WIRING 2) Cable connection procedure Cable connection lever 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable connection lever and insert the cable in the direction of arrow.
  • Page 126 4. SIGNALS AND WIRING (b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work. [Unit: mm] Approx.R0.3 Approx.22 Approx.R0.3 2) When using the flat-blade screwdriver - part 1 1) Insert the screwdriver into the square hole.
  • Page 127 4. SIGNALS AND WIRING 3) When using the flat-blade screwdriver - part 2 1) Insert the screwdriver into the 2) Push the screwdriver in the 3) With the screwdriver pushed, insert the cable in the square window at top of the direction of arrow.

  • Page 128: Connectors And Signal Arrangements

    4. SIGNALS AND WIRING 4.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. The servo amplifier front view shown is that of the MR-J3-20T or less. Refer to chapter 12 Outline Drawings for the appearances and connector layouts of the other servo amplifiers.

  • Page 129: Signal (Device) Explanation

    4. SIGNALS AND WIRING 4.5 Signal (device) explanation 4.5.1 I/O devices The CN6 connector provides three pins for inputs and three other pins for outputs. Devices assigned to these pins are changeable. To make this change, configure parameter settings of Nos. PD06 to PD11, PD12, and PD14.
  • Page 130 4. SIGNALS AND WIRING (1) Input device POINT Input devices assigned to the CN6 connector pins cannot be used with the remote input of the CC-Link communication function. Connector Device Symbol Functions/Applications pin No. Forced stop (EMG) is fixed at CN6-1. Assigning this device to any other pin is Forced stop CN6-1 not allowed.
  • Page 131 4. SIGNALS AND WIRING (2) Output device POINT Output devices assigned to the CN6 connector pins can be used with the remote output of the CC-Link communication function. Connector Device Symbol Functions/Applications pin No. Ready CN6-14 For device details, refer to section 3.5.1 (2). (Note) Trouble CN6-15...

  • Page 132: Input Signals

    4. SIGNALS AND WIRING Connector Device Symbol Functions/Applications pin No. Zero speed ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No. PC17. Example Zero speed is 50r/min OFF level Forward 20r/min...

  • Page 133: Power Supply

    4. SIGNALS AND WIRING 4.5.4 Power supply Connector Signal Symbol Functions/Applications pin No. division Digital I/F power supply DICOM CN6-5 Used to input 24VDC (24VDC 10% 150mA) for I/O interface. The input power supply capacity changes depending on the number of I/O interface points to be used.

  • Page 134: Movement Finish Rough Match In Position

    4. SIGNALS AND WIRING 4.6.2 Movement finish rough match in position POINT If an alarm cause, etc. are removed and servo-on occurs after a stop is made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Movement finish (MEND), Rough-match, (CPO) and In position (INP) are turned on.
  • Page 135 4. SIGNALS AND WIRING (2) Rough match The following timing charts show the relationships between the signal and the position command generated in the servo amplifier. This timing can be changed using parameter No. PC11 (rough match output range). RXn2 turns ON in the servo-on status. Forward rotation start (RYn1) or reverse rotation start (RYn2) 3ms or less...

  • Page 136: Torque Limit

    4. SIGNALS AND WIRING 4.6.3 Torque limit If the torque limit is canceled during servo lock, the servomotor may suddenly CAUTION rotate according to position deviation in respect to the command position. (1) Torque limit and torque By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit), torque is always limited to the maximum value during operation.

  • Page 137: Alarm Occurrence Timing Chart

    4. SIGNALS AND WIRING 4.7 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting CAUTION operation. As soon as an alarm occurs, turn off Servo-on (RYn0) and power off. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.

  • Page 138: Interface

    4. SIGNALS AND WIRING 4.8 Interface 4.8.1 Internal connection diagram Servo amplifier 24VDC DICOM (Note 1, 2) DOCOM Forced stop Approx.5.6k Note 2 Note 1 Approx.5.6k <Isolated> Differential line VBUS driver output (35mA or less) Servo motor Encoder Note 1. Devices assigned to these pins can be changed in the parameter settings. 2.

  • Page 139: Detailed Description Of Interfaces

    4. SIGNALS AND WIRING 4.8.2 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 4.5.1 Refer to this section and make connection with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
  • Page 140 4. SIGNALS AND WIRING (3) Encoder pulse output DO-2 (Differential line driver system) (a) Interface Max. output current: 35mA Servo amplifier Servo amplifier Am26LS32 or equivalent High-speed photocoupler (LB, LZ) (LB, LZ) (LBR, LZR) (LBR, LZR) (b) Output pulse Servo motor CCW rotation Time cycle (T) is determined by the settings of parameter No.PA15 and PC19.

  • Page 141: Source I/O Interfaces

    4. SIGNALS AND WIRING 4.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1 Servo amplifier EMG,...

  • Page 142: Treatment Of Cable Shield External Conductor

    4. SIGNALS AND WIRING 4.9 Treatment of cable shield external conductor In the case of the CN2 and CN6 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...

  • Page 143: Connection Of Servo Amplifier And Servo Motor

    4. SIGNALS AND WIRING 4.10 Connection of servo amplifier and servo motor During power-on, do not open or close the motor power line. Otherwise, a WARNING malfunction or faulty may occur. 4.10.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric WARNING shock.

  • Page 144: Power Supply Cable Wiring Diagrams

    4. SIGNALS AND WIRING 4.10.2 Power supply cable wiring diagrams (1) HF-MP service HF-KP series servo motor (a) When cable length is 10m or less 10m or less MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H Servo amplifier Servo motor MR-PWS1CBL M-A2-H CNP3 AWG 19(red) AWG 19(white)
  • Page 145 4. SIGNALS AND WIRING (2) HF-SP series HC-RP series HC-UP series HC-LP series servo motor POINT B Insert a contact in the direction shown in the figure. If inserted in the wrong direction, the contact is damaged and falls off. Soldered part or Soldered part Pin No.1...
  • Page 146 4. SIGNALS AND WIRING (b) Connector and signal allotment The connector fitting the servomotor is prepared as optional equipment. Refer to section 14.1. For types other than those prepared as optional equipment, refer to chapter 3 in Servomotor Instruction Manual, Vol.
  • Page 147 4. SIGNALS AND WIRING Power supply connector signal allotment Brake connector signal allotment Brake connector signal allotment CE05-2A24-10PD-B CM10-R2P MS3102A10SL-4P Terminal Terminal Terminal Signal Signal Signal (Note) (Note) (Note) (Note) View c View b View c Note. For the motor Note.
  • Page 148 4. SIGNALS AND WIRING (b) Servo motor terminals Encoder connector Brake connector Terminal box CM10-R10P MS3102A10SL-4P Encoder connector signal Terminal Brake connector signal Terminal Signal Signal allotment allotment CM10-R10P MS3102A10SL-4P (Note) (Note) Note. For the motor with electromagnetic brake, supply electromagnetic brake power (24VDC).
  • Page 149 4. SIGNALS AND WIRING Terminal box inside (HA-LP801, 12K1, 11K1M, 15K1M, 15K2, 22K2) Thermal sensor terminal block Cooling fan terminal block (OHS1,OHS2) M4 screw (BU,BV,BW) M4 screw Terminal block Encoder connector CM10-R10P signal arrangement Motor power supply terminal block Earth terminal M6 screw OHS1OHS2 (U,V,W) M8 screw Terminal box inside (HA-LP15K1, 20K1, 22K1M)
  • Page 150 4. SIGNALS AND WIRING Signal Name Abbreviation Description Connect to the motor output terminals (U, V, W) of the servo amplifier. During power-on, Power supply U V W do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. Supply power which satisfies the following specifications.

  • Page 151: Servo Motor With Electromagnetic Brake

    4. SIGNALS AND WIRING 4.11 Servo motor with electromagnetic brake 4.11.1 Safety precautions Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop signal. Contacts must be open when Circuit must be servo-off, when an trouble (ALM) opened during...

  • Page 152: Timing Charts

    4. SIGNALS AND WIRING 4.11.2 Timing charts (1) Servo-on (RYn0) command (from controller) ON/OFF Tb [ms] after the servo-on (RYn0) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.
  • Page 153 4. SIGNALS AND WIRING (4) Both main and control circuit power supplies off Dynamic brake Dynamic brake (10ms) Forward Electromagnetic brake (Note) rotation Electromagnetic brake 15 to 60ms Servo motor speed 0r/min Base circuit 10ms Invalid (ON) Electromagnetic brake interlock (RXn6) Valid (OFF) Electromagnetic brake No (ON)

  • Page 154: Wiring Diagrams (Hf-Mp Series Hf-Kp Series Servo Motor)

    4. SIGNALS AND WIRING 4.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) POINT For HF-SP series HC-RP series HC-UP series HC-LP series servo motors, refer to section 4.10.2 (2). (1) When cable length is 10m or less 10m or less 24VDC power MR-BKS1CBL M-A1-L supply for...

  • Page 155: Grounding

    4. SIGNALS AND WIRING 4.12 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor.
  • Page 156 4. SIGNALS AND WIRING MEMO 4 - 46...

  • Page 157: Startup

    5. STARTUP 5. STARTUP WARNING Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc.

  • Page 158: Wiring Check

    5. STARTUP 5.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L ) of the servo amplifier should satisfy the defined specifications.

  • Page 159: Surrounding Environment

    5. STARTUP 2) When regenerative option is used over 5kW The lead of built-in regenerative resistor connected to P terminal and D terminal of TE1 terminal block should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used when wiring is over 5m and under 10m.

  • Page 160: Startup

    5. STARTUP 5.2 Startup 5.2.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off the servo-on (RYn0). 2) Make sure that the Forward rotation start (RYn1) and Reverse rotation start (RYn2) are off. 3) Switch on the main circuit power supply and control circuit power supply.

  • Page 161: Test Operation

    5. STARTUP 5.2.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 5.2.1 for the power on and off methods of the servo amplifier. Test operation of servo motor In this step, confirm that the servo amplifier and servo motor alone in JOG operation of test operate normally.

  • Page 162: Parameter Setting

    5. STARTUP 5.2.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor requires the parameter No. PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (A16) will occur at power-on.

  • Page 163: Point Table Setting

    5. STARTUP 5.2.5 Point table setting Set necessary items to the point table before starting operation. The following table indicates the items that must be set. Name Description Position data Set the position data for movement. Servo motor speed Set the command speed of the servo motor for execution of positioning. Acceleration time constant Set the acceleration time constant.

  • Page 164: Servo Amplifier Display

    5. STARTUP 5.3 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the status of communication with the CC-Link controller at power-on, check the station number, and diagnose a fault at occurrence of an alarm. (1) Display sequence Servo amplifier power ON (Note 3) Waiting for CC-Link communication...
  • Page 165 5. STARTUP (2) Indication list Indication Status Description Power of the CC-Link master module was switched on at the condition that the power of b # # Waiting for CC-Link CC-Link master module is OFF. communication The CC-Link master module is faulty. The servo was switched on after completion of initialization and the servo amplifier is ready (Note 1) d # # Ready to operate.

  • Page 166: Automatic Operation Mode

    5. STARTUP 5.4 Automatic operation mode 5.4.1 What is automatic operation mode? (1) Command system After selection of preset point tables using the input signals or communication, operation is started by the forward rotation start (RYn1) or reverse rotation start (RYn2). Automatic operation has the absolute value command system, incremental value command system.
  • Page 167 5. STARTUP (b) Selection of point table Using the input signal or CC-Link, select the point table No. with the remote input and remote register from the command device (controller) such as a personal computer. The following table lists the point table No. selected in response to the remote input. When 2 stations are occupied, the point table No.

  • Page 168: Automatic Operation Using Point Table

    5. STARTUP 5.4.2 Automatic operation using point table (1) Absolute value command system (a) Point table Set the point table values using the MR Configurator, the MR-PRU03 parameter unit or the remote register of CC-Link. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table.
  • Page 169 5. STARTUP 2) Rotation direction selection (parameter No.PA14) Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) is switched on. Servo motor rotation direction Parameter No. PA14 setting when forward rotation start (RYn1) is switched on CCW rotation with position data CW rotation with...
  • Page 170 5. STARTUP (2) Incremental value command system (a) Point table Set the point table values using the MR Configurator, the MR-PRU03 parameter unit or the remote register of CC-Link. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table.
  • Page 171 5. STARTUP 2) Forward rotation direction selection (parameter No.PA14) Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) signal or reverse rotation start (RYn2) signal is switched on. Servo motor rotation direction Parameter No.PA14 setting Forward rotation start (RYn1) ON Reverse rotation start (RYn2) ON CCW rotation (address incremented)
  • Page 172 5. STARTUP (3) Automatic operation timing chart The timing chart is shown below. Automatic/manual selection (RYn6) Servo-on (RYn0) Point table No. (Note 2) Forward rotation 4ms or more start (RYn1) 4ms or more 6ms or more Reverse rotation start (RYn2) (Note 1) 3ms or less 6ms or more Forward...
  • Page 173 5. STARTUP (4) Automatic continuous operation POINT This function is valid when the point table is selected using the input signal or the remote input of CC-Link. It cannot be used when the point table No. is selected using the remote register of CC-Link. (a) What is automatic continuous operation? By merely choosing one point table and making a start (RYn1 or RYn2), operation can be performed in accordance with the point tables having consecutive numbers.
  • Page 174 5. STARTUP 1) Absolute value command specifying system This system is an auxiliary function for point tables to perform automatic operation by specifying the absolute value command or incremental value command. Positioning in single direction The operation example given below assumes that the set values are as indicated in the following table.
  • Page 175 5. STARTUP Positioning that reverses the direction midway The operation example given below assumes that the set values are as indicated in the following table. Here, the point table No. 1 uses the absolute value command system, the point table No. 2 the incremental value command system, and the point table No.
  • Page 176 5. STARTUP 2) Incremental value command system The position data of the incremental value command system is the sum of the position data of the consecutive point tables. The operation example given below assumes that the set values are as indicated in the following table.
  • Page 177 5. STARTUP (c) Temporary stop/restart When RYn7 is turned ON during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When RYn7 is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (RYn1 or RYn2) is ignored if it is switched on during a temporary stop.

  • Page 178: Remote Register-Based Position/Speed Setting

    5. STARTUP 5.4.3 Remote register-based position/speed setting This operation can be used when 2 stations are occupied. This section explains operation to be performed when the remote register is used to specify the position command data/speed command data. (1) Absolute value command positioning in absolute value command system The position data set in the absolute value command system are used as absolute values in positioning.
  • Page 179 5. STARTUP Automatic/manual selection (RYn6) Servo-on (RYn0) Position/speed specifying system selection (RYn+2)A Incremental value/absolute value selection (RYn+2)B Position data Position data 1 Position data 2 (RWwn+4 RWwn+5) Speed data 1 Speed data 2 Speed data 6ms or more (Note) (Note) 4ms or more 4ms or more Forward rotation start (RYn1)
  • Page 180 5. STARTUP (2) Incremental value command positioning in absolute value command system The position data set in the absolute value command system are used as incremental values in positioning. Set the input signals and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6)
  • Page 181 5. STARTUP (3) Positioning in incremental value command system Execute positioning in the incremental value command system. Set the input signals and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON. Remote register-based position/speed Position/speed specifying system selection Turn RY(n+2)A ON.

  • Page 182: Manual Operation Mode

    5. STARTUP 5.5 Manual operation mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 5.5.1 JOG operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No.

  • Page 183: Manual Pulse Generator

    5. STARTUP (4) Timing chart Automatic/manual selection (RYn6) Servo-on (RYn0) 100m Forward rotation start (RYn1) Forward rotation jog Reverse rotation start (RYn2) Reverse rotation jog Forward rotation Servo motor speed 0r/min Reverse rotation Rough match (RXn2) Movement finish (RXnC) Ready (RD) Trouble (ALM) 5.5.2 Manual pulse generator (1) Setting...
  • Page 184 5. STARTUP (3) Manual pulse generator multiplication (a) Using the parameter for setting Use parameter No. PA05 to set the multiplication ratio of the servo motor rotation to the manual pulse generator rotation. Multiplication ratio of servo motor rotation to Parameter No.

  • Page 185: Manual Home Position Return Mode

    5. STARTUP 5.6 Manual home position return mode 5.6.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off.
  • Page 186 5. STARTUP (1) Home position return types Choose the optimum home position return according to the machine type, etc. Type Home position return method Features General home position return method using a With deceleration started at the front end of a proximity proximity dog.
  • Page 187 5. STARTUP (2) Home position return parameter When performing home position return, set each parameter as follows: (a) Choose the home position return method with parameter No. PC02 (Home position return type). Parameter No.PC02 Home position return method 0: Dog type 1: Count type 2: Data setting type 3: Stopper type...

  • Page 188: Dog Type Home Position Return

    5. STARTUP 5.6.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.
  • Page 189 5. STARTUP (3) Timing chart Automatic/manual selection (RYn0) Selected point table No. 6ms or more Forward rotation start (RYn1) Reverse rotation start (RYn2) Point table No. 1 Point table No. 1 Home position return Deceleration time constant Acceleration time speed Parameter No. PC04 Home position shift constant Creep speed...

  • Page 190: Count Type Home Position Return

    5. STARTUP 5.6.3 Count type home position return In count type home position return, a motion is made over the distance set in parameter No.PC08 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-phase signal is given after that is defined as a home position.
  • Page 191 5. STARTUP (2) Timing chart Automatic/manual selection (RYn0) Selected point table No. 6ms or more Forward rotation start (RYn1) Reverse rotation start (RYn2) Point table No. 1 Home position Point table No. 1 Home position return Deceleration time shift distance Acceleration constant speed Parameter No.

  • Page 192: Data Setting Type Home Position Return

    5. STARTUP 5.6.4 Data setting type home position return Data setting type home position return is used when it is desired to determine any position as a home position. JOG operation can be used for movement. (1) Signals, parameters Set the input devices and parameters as follows: Item Device/Parameter used Description...

  • Page 193: Stopper Type Home Position Return

    5. STARTUP 5.6.5 Stopper type home position return In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation to make a home position return and that position is defined as a home position. (1) Signals, parameters Set the input devices and parameters as follows: Item...
  • Page 194 5. STARTUP (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. 5ms or less Forward rotation start (RYn1) Reverse rotation start (RYn2) Torque limit value Parameter No. PC35 Parameter No. PC10 Parameter No. PC35 Point table No.1 Home position address Home position return Parameter No.

  • Page 195: Home Position Ignorance (Servo-On Position Defined As Home Position)

    5. STARTUP 5.6.6 Home position ignorance (servo-on position defined as home position) The position where servo is switched on is defined as a home position. (1) Signals, parameter Set the input devices and parameter as follows: Item Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON.

  • Page 196: Dog Type Rear End Reference Home Position Return

    5. STARTUP 5.6.7 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the rear end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 400 pulses will occur in the home position.
  • Page 197 5. STARTUP (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Moving distance after proximity dog Home position return speed Home position shift distance Forward Creep speed rotation Servo motor speed 0r/min 3ms or less...

  • Page 198: Count Type Front End Reference Home Position Return

    5. STARTUP 5.6.8 Count type front end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the front end of a proximity dog. Hence, if a home position return is made at the home position return speed of 100r/min, an error of 400 pulses will occur in the home position.
  • Page 199 5. STARTUP (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Moving distance after proximity dog Home position return speed Home position shift distance Creep speed Forward Servo motor speed rotation 3ms or less 0r/min...

  • Page 200: Dog Cradle Type Home Position Return

    5. STARTUP 5.6.9 Dog cradle type home position return The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position. (1) Signals, parameters Set the input devices and parameters as indicated below. Item Device/Parameter used Description...
  • Page 201 5. STARTUP (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Home position return speed Home position shift distance Forward Creep speed rotation Servo motor speed 0r/min 3ms or less Reverse rotation Home position address...

  • Page 202: Dog Type First Z-Phase Reference Home Position Return

    5. STARTUP 5.6.10 Dog type first Z-phase reference home position return After the proximity dog front end is detected, the current position moves in the reverse direction at creep speed. After this moving away from the proximity dog, the home position is determined to be where the first Z- phase pulse is issued.
  • Page 203 5. STARTUP (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Home position return speed Home position shift distance Forward Home position address Parameter No. PC07 rotation Servo motor speed 0r/min 3ms or less Reverse...

  • Page 204: Dog Type Front End Reference Home Position Return Method

    5. STARTUP 5.6.11 Dog type front end reference home position return method The home position is determined to be the position of the front end of the proximity dog. (1) Signals, parameters Set the input devices and parameters as indicated below. Item Device/Parameter used Description...
  • Page 205 5. STARTUP (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Home position return speed Forward Moving distance after proximity dog rotation Servo motor speed Home position shift distance 0r/min 3ms or less Reverse...

  • Page 206: Dogless Z-Phase Reference Home Position Return Method

    5. STARTUP 5.6.12 Dogless Z-phase reference home position return method The home position is determined to be where the first Z-phase pulse is issued after the home position return is started. (1) Signals, parameters Set the input devices and parameters as indicated below. Item Device/Parameter used Description...
  • Page 207 5. STARTUP (2) Timing chart Automatic/manual selection (RYn6) Selected point table No. Forward rotation start (RYn1) 6ms or more Reverse rotation start (RYn2) Home position return speed Forward rotation Home position shift distance Servo motor speed 0r/min 3ms or less Reverse rotation Creep speed Z-phase...

  • Page 208: Home Position Return Automatic Return Function

    5. STARTUP 5.6.13 Home position return automatic return function If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this function starts home position return after making a return to the position where the home position return can be made.

  • Page 209: Automatic Positioning Function To The Home Position

    5. STARTUP 5.6.14 Automatic positioning function to the home position POINT You cannot perform automatic positioning from outside the position data setting range to the home position. In this case, make a home position return again using a manual home position return. If this function is used when returning to the home position again after performing a manual home position return after a power-on and deciding the home position, automatic positioning can be carried out to the home position at high speed.

  • Page 210: Roll Feed Display Function In Roll Feed Mode

    5. STARTUP 5.7 Roll feed display function in roll feed mode With the roll feed display function, the servo amplifier can operate in the roll feed mode. The roll feed mode uses the incremental system. (1) Parameter settings Digit to Setting Name Setting item...

  • Page 211: Absolute Position Detection System

    5. STARTUP 5.8 Absolute position detection system If an absolute position erase alarm (A25) or an absolute position counter warning CAUTION (AE3) has occurred, always perform home position setting again. Not doing so can cause runaway. This servo amplifier contains a single-axis controller. Also, all servo motor encoders are compatible with an absolute position system.
  • Page 212 5. STARTUP (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions. The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the general-purpose programming controller power is on or off.
  • Page 213 5. STARTUP (a) For MR-J3-350T or less POINT For the servo amplifier of 3.5kW or less, in the state to insert the battery, it is not possible to wire for the earth. Insert the battery after executing the earth wiring of the servo amplifier. Insert connector into CN4.
  • Page 214 5. STARTUP (c) Parameter setting Set parameter No.PA03 (Absolute position detection system) as indicated below to make the absolute position detection system valid: Parameter No.PA03 Selection of absolute position detection system 0: Incremental system 1: Absolute position detection system 5 - 58...

  • Page 215: Parameters

    6. PARAMETERS 6. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.

  • Page 216: Parameter Write Inhibit

    6. PARAMETERS 6.1.2 Parameter write inhibit Parameter Initial Unit Setting Range Value Symbol Name PA19 *BLK Parameter write inhibit 000Ch Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, 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 and extension setting parameter settings.

  • Page 217: Selection Of Command System

    6. PARAMETERS 6.1.3 Selection of command system Parameter Initial Unit Setting Range Value Symbol Name PA01 *STY Control mode 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. Select the command system.

  • Page 218: Using Absolute Position Detection System

    6. PARAMETERS 6.1.5 Using absolute position detection system Parameter Initial Unit Setting Range Value Symbol Name PA03 *ABS Absolute position detection system 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed.

  • Page 219: Feeding Function Selection

    6. PARAMETERS 6.1.7 Feeding function selection Parameter Initial Unit Setting Range Value Symbol Name PA05 *FTY Feeding function selection 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. Select the feed length multiplication and the manual pulse generator input multiplication.

  • Page 220: Electronic Gear

    6. PARAMETERS 6.1.8 Electronic gear CAUTION False setting will result in unexpected fast rotation, causing injury. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. 2000 . If you set any The range of the electronic gear setting is value outside this range, a parameter error (A37) occurs.
  • Page 221 6. PARAMETERS 6.1.9 Auto tuning Parameter Initial Unit Setting Range Value Symbol Name PA08 Auto tuning mode 0001h Refer to the text. PA09 Auto tuning response 1 to 32 Make gain adjustment using auto tuning. Refer to section 9.2 for details. (1) Auto tuning mode (parameter No.

  • Page 222: In-Position Range

    6. PARAMETERS (2) Auto tuning response (parameter No. PA09) If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value. Guideline for Machine Guideline for Machine Setting Response Setting...

  • Page 223: Torque Limit

    6. PARAMETERS 6.1.11 Torque limit Parameter Initial Unit Setting Range Value Symbol Name PA11 Forward rotation torque limit 100.0 0 to 100.0 PA12 Reverse rotation torque limit 100.0 0 to 100.0 The torque generated by the servo motor can be limited. (1) Forward rotation torque limit (parameter No.

  • Page 224: Selection Of Servo Motor Rotation Direction

    6. PARAMETERS 6.1.12 Selection of servo motor rotation direction Parameter Initial Unit Setting Range Value Symbol Name PA14 *POL Rotation direction selection POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. Select servo motor rotation direction relative to the input pulse train.
  • Page 225 6. PARAMETERS (1) For output pulse designation Set " " (initial value) in parameter No. PC19. Set the number of pulses per servo motor revolution. Output pulse set value [pulses/rev] For instance, set "5600" to Parameter No. PA15, the actually output A/B-phase pulses are as indicated below: 5600 A B-phase output pulses...

  • Page 226: Gain/Filter Parameters (No. Pb )

    6. PARAMETERS 6.2 Gain/Filter parameters (No. PB 6.2.1 Parameter list Symbol Name Initial Value Unit PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h Vibration suppression control filter tuning mode PB02 VRFT 0000h (Advanced vibration suppression control) PB03 For manufacturer setting 0000h PB04 Feed forward gain...

  • Page 227: Detail List

    6. PARAMETERS 6.2.2 Detail list Setting Symbol Name and Function Initial Value Unit Range PB01 FILT Adaptive tuning mode (adaptive filter ) 0000h Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatically changes the machine resonance suppression filter 1 (parameter No.
  • Page 228 6. PARAMETERS Setting Symbol Name and Function Initial Value Unit Range PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression 0000h control) The vibration suppression is valid when the parameter No. PA08 (auto tuning) setting is " 2" or " 3".
  • Page 229 6. PARAMETERS Setting Symbol Name and Function Initial Value Unit Range PB05 For manufacturer setting Do not change this value by any means. PB06 Ratio of load inertia moment to servo motor inertia moment times Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment.
  • Page 230 6. PARAMETERS Setting Symbol Name and Function Initial Value Unit Range PB14 NHQ1 Notch shape selection 1 0000h Refer to Used to selection the machine resonance suppression filter 1. Name and function column. Notch depth selection Setting value Depth Gain Deep -40dB -14dB...
  • Page 231 6. PARAMETERS Setting Symbol Name and Function Initial Value Unit Range PB18 Low pass filter setting 3141 rad/s Set the low pass filter. Setting parameter No. PB23 (low pass filter selection) to " " 18000 automatically changes this parameter. When parameter No. PB23 is set to " ", this parameter can be set manually.
  • Page 232 6. PARAMETERS Setting Symbol Name and Function Initial Value Unit Range PB25 For manufacturer setting 0000h Do not change this value by any means. PB26 *CDP Gain changing selection 0000h Refer to Select the gain changing condition. (Refer to section 10.6.) Name and function column.
  • Page 233 6. PARAMETERS Setting Symbol Name and Function Initial Value Unit Range PB33 VRF1B Gain changing - vibration suppression control - vibration frequency setting 100.0 Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No. PB02 100.0 setting is "...

  • Page 234: Extension Setting Parameters (No. Pc )

    6. PARAMETERS 6.3 Extension setting parameters (No. PC 6.3.1 Parameter list Symbol Name Initial Value Unit PC01 For manufacturer setting 0000h PC02 *ZTY Home position return type 0000h PC03 *ZDIR Home position return direction 0001h PC04 Home position return speed r/min PC05 Creep speed...

  • Page 235: Detail List

    6. PARAMETERS Symbol Name and Function Initial Value Unit PC49 For manufacturer setting 0000h PC50 0000h 6.3.2 Detail list Symbol Name and Function Initial value Unit Setting range PC01 For manufacturer setting 0000h Do not change this value by any means. PC02 *ZTY Home position return type...
  • Page 236 6. PARAMETERS Symbol Name and Function Initial value Unit Setting range PC10 Stopper type home position return torque limit 15.0 Used to set the torque limit value relative to the max. torque in [%] in stopper type home position return. (Refer to section 5.6.5) 100.0 PC11 Rough match output range...
  • Page 237 6. PARAMETERS Symbol Name and Function Initial value Unit Setting range PC19 *ENRS Encoder output pulse selection 0000h Refer to Use to select the, encoder output pulse direction and encoder pulse Name and output setting. function column. Encoder pulse output phase changing Changes the phases of A, B-phase encoder pulses output .
  • Page 238 6. PARAMETERS Symbol Name and Function Initial value Unit Setting range PC24 *COP3 Function selection C-3 0000h Refer to Select the unit of the in-position range. Name and function 0 0 0 column In-position range unit selection 0: Command input unit 1: Servo motor encoder unit PC25 For manufacturer setting...
  • Page 239 6. PARAMETERS Symbol Name and Function Initial value Unit Setting range PC33 LMNL Software limit 999999 Used to set the address decrement side software stroke limit. The software PC34 LMNH limit is made invalid if this value is the same as in "software limit ". 999999 (Refer to section 6.3.6) Set the same sign to parameters No.

  • Page 240: S-Pattern Acceleration/Deceleration

    6. PARAMETERS Symbol Name and Function Initial value Unit Setting range PC41 For manufacturer setting 8192 Do not change this value by any means. PC42 1024 PC43 PC44 PC45 PC46 PC47 0000h PC48 0000h PC49 0000h PC50 0000h 6.3.3 S-pattern acceleration/deceleration In servo operation, linear acceleration/deceleration is usually made.

  • Page 241: Alarm History Clear

    6. PARAMETERS 6.3.4 Alarm history clear The alarm history can be confirmed by using the MR Configurator. The servo amplifier stores one current alarm and five past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history using parameter No.

  • Page 242: I/O Setting Parameters (No. Pd )

    6. PARAMETERS 6.4 I/O setting parameters (No. PD 6.4.1 Parameter list Symbol Name Initial Value Unit PD01 *DIA1 Input signal automatic ON selection 1 0000h PD02 For manufacturer setting 0000h PD03 *DIA3 Input signal automatic ON selection 3 0000h PD04 *DIA4 Input signal automatic ON selection 4 0000h...

  • Page 243: Detail List

    6. PARAMETERS 6.4.2 Detail list Initial Setting Symbol Name and Function Unit value range PD01 *DIA1 Input signal automatic ON selection 1 0000h Refer to Select the input devices to be automatically turned ON. Name and part is for manufacturer setting. Do not set the value by any means. function column.
  • Page 244 6. PARAMETERS Initial Setting Symbol Name and Function Unit value range PD03 *DIA3 Input signal automatic ON selection 3 0000h Refer to Select the input devices to be automatically turned ON. Name and part is for manufacturer setting. Do not set the value by any means. function column.
  • Page 245 6. PARAMETERS Initial Setting Symbol Name and Function Unit value range PD06 *DI2 Input signal device selection 2 (CN6-2) 002Bh Refer to Any input device can be assigned to the CN6-2 pin. Name and function column. Select the input device of the CN6-2 pin The devices that can be assigned are indicated in the following table.
  • Page 246 6. PARAMETERS Initial Setting Symbol Name and Function Unit value range PD09 *DO1 Output signal device selection 1 (CN6-14) 0002h Refer to Any output signal can be assigned to the CN6-14 pin. Name and function column. Select the output device of the CN6-14 pin The devices that can be assigned are indicated in the following table.
  • Page 247 6. PARAMETERS Initial Setting Symbol Name and Function Unit value range PD11 *DO3 Output signal device selection 3 (CN6-16) 0024h Refer to Any output signal can be assigned to the CN6-16 pin. Name and The devices that can be assigned and the setting method are the same as in function parameter No.
  • Page 248 6. PARAMETERS Initial Symbol Name and Function Unit Setting range value PD14 DIN3 External DI function selection 3 0800h Refer to This function sets any signal imported from the CN6 connector. Name and part is for manufacturer setting. Do not set the value by any means. function column.
  • Page 249 6. PARAMETERS Initial Symbol Name and Function Unit Setting range value PD20 *DOP1 Function selection D-1 0010h Refer to Select the stop processing at forward rotation stroke end (LSN)/reverse rotation Name and stroke end (LSN) OFF and the base circuit status at reset (RY(N 1)A or function RY(n 3)A) ON.
  • Page 250 6. PARAMETERS Initial Symbol Name and Function Unit Setting range value PD24 *DOP5 Function selection D-5 0000h Select the output status of the warning (WNG). Selection of output device at warning occurrence Select the warning (RXnA) and trouble (RX(n+1)A or RX(n+3)A) output status at warning occurrence.

  • Page 251: Mr Configurator

    RS-422/232C DSV-CABV (Diatrend) is recommended. conversion cable RS-422/232C FA-T-RS40VS (Mitsubishi Electric Engineering) is recommended. Required for use of the multidrop converter communication function. Note 1. Windows is the registered trademarks of Microsoft Corporation in the United State and other countries.
  • Page 252 RS-422/232C converter (Note 3) FA-T-RS40VS (Mitsubishi Electric Engineering) Note 1. Refer to section 15.1 for cable wiring. 2. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector. 3. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No.6) on the receiving side (servo amplifier) with a 150 resistor.

  • Page 253: Station Selection

    7. MR Configurator 7.3 Station selection Click "Setup" on the menu bar and click "System settings" on the menu. When the above choices are made, the following window appears: (1) Station number selection Choose the station number in the combo box ( a) ). POINT This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication.

  • Page 254: Parameters

    7. MR Configurator 7.4 Parameters Click "Parameters" on the menu bar and click "Parameter list" on the menu. When the above choices are made, the following window appears: k) l) (1) Parameter value write ( a) ) Click the parameter whose setting was changed and press the "Write" button to write the new parameter setting to the servo amplifier.
  • Page 255 7. MR Configurator (4) Parameter value batch-write ( d) ) Click the "Write All" button to write all parameter values to the servo amplifier. (5) Parameter default value indication ( e) ) Click the "Set to default" button to show the initial value of each parameter. (6) Basic settings for parameters ( g) ) Used to make the basic settings such as control mode selection and absolute position system selection.

  • Page 256: Point Table

    7. MR Configurator 7.5 Point table POINT The value of the parameter No. PA05 set on the parameter setting screen is not engaged with the STM (feed length multiplication) value on the point table list screen. Set the STM (feed length multiplication) value to the same as set in the parameter No.
  • Page 257 7. MR Configurator (5) Point table data insertion ( e) ) Click the "Insert" button to insert one block of data into the position before the point table No. chosen. The blocks after the chosen point table No. are shifted down one by one. (6) Point table data deletion ( f) ) Click the "Delete"...

  • Page 258: Device Assignment Method

    7. MR Configurator 7.6 Device assignment method POINT To use a device as an external I/O signal, the settings for the parameter No. PD12 and PD14 are required after the device is assigned according to the device setting described below. (1) How to open the setting screen Click "Parameters"...
  • Page 259 7. MR Configurator (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the servo amplifier displays the pin assignment status of the servo amplifier. 1) Read of function assignment ( a) ) Click the "Read" button reads and displays all functions assigned to the pins from the servo amplifier. 2) Write of function assignment ( b) ) Click the "Write"...
  • Page 260 7. MR Configurator (b) DIDO function display window screen This screen is used to select the device assigned to the pins. The functions displayed below * and * are assignable. Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want to assign in the DIDO device setting window.
  • Page 261 7. MR Configurator (c) Function device assignment checking auto ON setting display Click the "Assignment check / auto ON setting" button in the DIDO function display window displays the following window. The assigned functions are indicated by . The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell.

  • Page 262: Test Operation

    7. MR Configurator 7.7 Test operation When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) CAUTION operates. If any operational fault has occurred, stop operation using the forced stop (EMG). 7.7.1 Jog operation POINT For the program operation, refer to the manual of MR Configurator.
  • Page 263 7. MR Configurator (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed" input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the "Accel/decel time" input field and press the enter key. (3) Servo motor start ( c), d) ) Hold down the "Forward"...

  • Page 264: Positioning Operation

    7. MR Configurator 7.7.2 Positioning operation POINT The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and DOCOM.
  • Page 265 7. MR Configurator (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed" input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the "Accel/decel time" input field and press the enter key. (3) Moving distance setting ( c) ) Enter a new value into the "Move distance"...
  • Page 266 7. MR Configurator (10) Pulse move distance unit selection (k) Select with the option buttons whether the moving distance set is in the command input pulse unit or in the encoder pulse unit. (11) Servo motor software forced stop (1)) Click the "Software forced stop"...

  • Page 267: Motor-Less Operation

    7. MR Configurator 7.7.3 Motor-less operation POINT When this operation is used in an absolute position detection system, the home position cannot be restored properly. Without a servo motor being connected, the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response to the external I/O signals.

  • Page 268: Output Signal (Do) Forced Output

    7. MR Configurator 7.7.4 Output signal (DO) forced output POINT When an alarm occurs, the DO forced output is automatically canceled. Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal. Click "Test" on the menu bar and click "Forced output" on the menu. Clicking displays the confirmation window for switching to the test operation mode.

  • Page 269: Single-Step Feed

    7. MR Configurator (1) Signal ON/OFF setting ( a), b) ) Choose the signal name or pin number and click the "ON" or "OFF" button to write the corresponding signal status to the servo amplifier. (2) DO forced output window closing ( c) ) Click the "Close"...
  • Page 270 7. MR Configurator Click the "OK" button to display the setting screen of the Single-step feed. During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed. After confirming that the operation is in the stop status, click the "OK" button. (1) Point table No.
  • Page 271 7. MR Configurator (7) Servo motor software forced stop ( f) ) Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software forced stop" button is enabled, the "Start" button cannot be used. Click the "Software forced stop" button again to make the "Start"...

  • Page 272: Alarm

    7. MR Configurator 7.8 Alarm 7.8.1 Alarm display POINT If a menu is clicked or any other operation is performed during alarm occurrence, the following message window appears. The example given here is the window that indicates an occurrence of Encoder error 1 (16). The current alarm can be displayed.

  • Page 273: Batch Display Of Data At Alarm Occurrence

    7. MR Configurator (1) Current alarm display The window shows the alarm number, name, cause and occurrence time. The following example is the window that indicates an occurrence of Encoder error 1 (16). (2) Alarm reset ( a) ) Click the "Reset alarm" button to reset the current alarm and clear alarms on the window. The alarm at this time is stored as the latest alarm.
  • Page 274 7. MR Configurator Click the "Read" button to read the monitor data at error occurrence from the servo amplifier. Read results are displayed as follows. 7 - 24...

  • Page 275: Alarm History

    7. MR Configurator 7.8.3 Alarm history Click "Alarm" on the menu bar and click "History" on the menu. When the above choices are made, the following window appears: (1) Alarm history display The most recent six alarms are displayed. The smaller numbers indicate newer alarms. (2) Alarm history clear ( a) ) Click the "Clear"...
  • Page 276 7. MR Configurator MEMO 7 - 26...

  • Page 277: Parameter Unit (Mr-Pru03)

    8. PARAMETER UNIT (MR-PRU03) 8. PARAMETER UNIT (MR-PRU03) POINT Do not use MR-PRU03 parameter unit and MR Configurator together. Perform simple data setting, test operation, parameter setting, etc. without MR Configurator by connecting the MR-PRU03 parameter unit to the servo amplifier. 8 - 1...

  • Page 278: External Appearance And Key Explanations

    8. PARAMETER UNIT (MR-PRU03) 8.1 External appearance and key explanations This section gives the external appearance and explanations of the keys. Key explanations Monitor mode key Used to display the monitor screen. Alarm/diagnosis mode ALM/ Display Used to display the alarm/DO forced output/diagnosis selection LCD (16 characters x 4 lines) screen.

  • Page 279: Specifications

    8. PARAMETER UNIT (MR-PRU03) 8.2 Specifications Item Description Model MR-PRU03 Power supply Supplied from the servo amplifier Basic setting parameters, Gain/filter parameters, Extension setting Parameter mode parameters, I/O setting parameters Current position, Command position, Command remaining distance, Point table No., Feedback pulse value, Servo motor speed, Droop pulse value, Monitor mode (Status display) Regenerative load factor, Effective load factor, Peak load factor, Instantaneous torque, Within one-revolution position, ABS counter, Load...

  • Page 280: Connection With Servo Amplifier

    8. PARAMETER UNIT (MR-PRU03) 8.4 Connection with servo amplifier 8.4.1 Single axis (1) Configuration diagram Operate the single-axis servo amplifier. It is recommended to use the following cable. Servo amplifier Parameter unit (MR-PRU03) PRU03 10BASE-T cable, etc. ALM/ DATA TEST PARAM (EIA568-compliant cable) SHIFT...

  • Page 281: Multidrop Connection

    8. PARAMETER UNIT (MR-PRU03) 8.4.2 Multidrop connection (1) Configuration diagram Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier Servo amplifier Servo amplifier Paremeter unit (MR-PRU03) PRU 03 ８...
  • Page 282 8. PARAMETER UNIT (MR-PRU03) (2) Cable internal wiring diagram Wire the cables as shown below. (Note 3) 30m or less (Note 1) (Note 1) (Note 1, 7) Axis 2 servo amplifier Axis 1 servo amplifier Axis n servo amplifier CN3 connector CN3 connector CN3 connector (RJ45 connector)

  • Page 283: Display

    8. PARAMETER UNIT (MR-PRU03) 8.5 Display Connect the MR-PRU03 parameter unit to the servo amplifier, and turn ON the power of the servo amplifier. In this section, the screen transition of the MR-PRU03 parameter unit is explained, together with the operation procedure in each mode.

  • Page 284: Mr-Pru03 Parameter Unit Setting

    8. PARAMETER UNIT (MR-PRU03) 8.5.2 MR-PRU03 parameter unit setting Set and enter the station number. MR-PRU03 Station number (e.g. To enter 31st axis) parameter unit setting Baud rate selection Press the " " keys to select, and press the " "...

  • Page 285: Monitor Mode (Status Display)

    8. PARAMETER UNIT (MR-PRU03) 8.5.3 Monitor mode (status display) (1) Monitor display The servo status during operation is shown on the display. Refer to (2) of this section for details. 11. Regenerative load ratio 1. Current position 12. Effective load ratio 2.
  • Page 286 8. PARAMETER UNIT (MR-PRU03) (2) Monitor display list The following table lists the items and descriptions of monitor display. Display on Status display parameter Unit Description Display range unit The current position from the machine home position of 0 is 9999999 to Current position Cur posit...

  • Page 287: Alarm/Diagnostic Mode

    8. PARAMETER UNIT (MR-PRU03) 8.5.4 Alarm/diagnostic mode (1) Alarm display The flowchart below shows the procedure of settings involving alarms, alarm history, external I/O signal (DIDO) display, device and diagnosis. ALM/ Current alarm When parameter error (A37) (When undervoltage (AL.10) occurred.) Alarm occurred.
  • Page 288 8. PARAMETER UNIT (MR-PRU03) (2) Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history before starting operation. ALM/ Select "ALM Hist".

  • Page 289: Parameter Mode

    8. PARAMETER UNIT (MR-PRU03) 8.5.5 Parameter mode The flowchart below shows the procedure for setting parameters. DATA PARAM Select a parameter group. e.g. To set setting e.g. To select the e.g. To select value 1234 gain/filter parameter, parameter No. PB10, "...

  • Page 290: Point Table Mode

    8. PARAMETER UNIT (MR-PRU03) 8.5.6 Point table mode The flowchart below shows the procedure for setting point table data. DATA e.g. To set setting SHIFT ＋ PARAM Select an item with value "4567.89", e.g. To set point press: " " table No.

  • Page 291: Test Operation Mode

    8. PARAMETER UNIT (MR-PRU03) 8.5.7 Test operation mode When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) CAUTION operates. If any operational fault has occurred, stop operation using the forced stop (EMG). POINT The test operation mode cannot be used in the absolute position detection system.
  • Page 292 8. PARAMETER UNIT (MR-PRU03) (1) Jog operation Jog operation can be performed when there is no command from the external command device. Connect EMG-DOCOM to start jog operation. (a) Operation/cancel You can change the operation conditions with the parameter unit. The initial conditions and setting ranges for operation are listed below: Item Initial setting...
  • Page 293 8. PARAMETER UNIT (MR-PRU03) (2) Positioning operation Positioning operation can be performed once when there is no command from the external command device. Connect EMG-DOCOM to start positioning operation. (a) Operation/cancel You can change the operation conditions with the parameter unit. The initial conditions and setting ranges for operation are listed below: Item Initial setting...
  • Page 294 8. PARAMETER UNIT (MR-PRU03) If the communication cable is disconnected during positioning operation, the servo motor will come to a sudden stop. (b) Status display You can monitor the status display even during positioning operation. At this time, the "FWD", "REV" and "STOP"...

  • Page 295: Error Message List

    8. PARAMETER UNIT (MR-PRU03) (5) Single-step feed Operation is performed in accordance with the preset point table No. Connect EMG-DOCOM to start single-step feed. The following shows the operation condition settings and the operation procedures. e.g. To select point table No. 255, press: Single-step feed 2 5 5...
  • Page 296 8. PARAMETER UNIT (MR-PRU03) (2) Messages Message Description Valid parameters were written when power is off. The MR-PRU03 parameter unit was used to set a station number and perform transition during the test operation mode. Operation mode is the test operation mode. The test mode was changed due to external factor.

  • Page 297: General Gain Adjustment

    9 GENERAL GAIN ADJUSTMENT 9. GENERAL GAIN ADJUSTMENT 9.1 Different adjustment methods 9.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this order.

  • Page 298: Adjustment Using Mr Configurator

    9. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Used when you want to match Interpolation made for 2 or more the position gain (PG1) axes? between 2 or more axes. Interpolation mode Normally not used for other purposes.
  • Page 299 9. GENERAL GAIN ADJUSTMENT 9.2 Auto tuning 9.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.

  • Page 300: Auto Tuning Mode Operation

    9. GENERAL GAIN ADJUSTMENT 9.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia Automatic setting moment Encoder Loop gains Command Current Servo PG1,VG1 control motor PG2,VG2,VIC Current feedback Real-time auto Position/speed Set 0 or 1 to turn on. tuning section feedback Load inertia...

  • Page 301: Adjustment Procedure By Auto Tuning

    9. GENERAL GAIN ADJUSTMENT 9.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.

  • Page 302: Response Level Setting In Auto Tuning Mode

    9. GENERAL GAIN ADJUSTMENT 9.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No. PA09) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration.

  • Page 303: Manual Mode 1 (Simple Manual Adjustment)

    9. GENERAL GAIN ADJUSTMENT 9.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode (parameter No. PB01) or machine resonance suppression filter (parameter No.
  • Page 304 9. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed loop gain setting Speed loop response...
  • Page 305 9. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment: Parameter No. Abbreviation Name PB06 Ratio of load inertia moment to servo motor inertia moment PB07 Model loop gain PB08 Position loop gain PB09 Speed loop gain PB10...
  • Page 306 9. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (VG2: parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed loop gain 2 setting Speed loop response...

  • Page 307: Interpolation Mode

    9. GENERAL GAIN ADJUSTMENT 9.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the model loop gain and speed loop gain which determine command track ability are set manually and the other parameter for gain adjustment are set automatically.

  • Page 308: Differences Between Melservo-J2-Super And Melservo-J3 In Auto Tuning

    9. GENERAL GAIN ADJUSTMENT 9.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning To meet higher response demands, the MELSERVO-J3 series has been changed in response level setting range from the MR-J2-Super. The following table lists comparison of the response level setting. MELSERVO-J2-Super MELSERVO-J3 Guideline for Machine Resonance...

  • Page 309: Special Adjustment Functions

    10. SPECIAL ADJUSTMENT FUNCTIONS 10. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 9. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
  • Page 310 10. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No. PB01). Parameter No.60 0 0 0 Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter Filter OFF (Note) Parameter No. PB13 Filter tuning mode Parameter No.
  • Page 311 10. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning adjustment Operation Is the target response reached? Increase the response setting. Has vibration or unusual noise occurred? Execute or re-execute adaptive tuning. (Set parameter No. PB01 to "0001".) Tuning ends automatically after the If assumption fails after tuning is executed at predetermined period of time.

  • Page 312: Machine Resonance Suppression Filter

    10. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds. When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated.
  • Page 313 10. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No. PB13, PB14) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 (parameter No. PB13, PB14) When you have made adaptive filter tuning mode (parameter No. PB01) "manual mode", set up the machine resonance suppression filter 1 becomes effective.

  • Page 314: Advanced Vibration Suppression Control

    10. SPECIAL ADJUSTMENT FUNCTIONS 10.4 Advanced vibration suppression control (1) Operation Vibration suppression control is used to further suppress machine end vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake.
  • Page 315 10. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure Vibration suppression control tuning adjustment Operation Is the target response reached? Increase the response setting. Has vibration of workpiece end/device increased? Stop operation. Execute or re-execute vibration suppression control tuning. (Set parameter No.
  • Page 316 10. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work end vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibration frequency (parameter No. PB19) and vibration suppression control resonance frequency (parameter No. PB20) to set vibration suppression control manually.
  • Page 317 10. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine end vibration does not show up in motor end vibration, the setting of the motor end vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external FFT device, do not set the same value but set different values to improve the vibration suppression performance.

  • Page 318: Low-Pass Filter

    10. SPECIAL ADJUSTMENT FUNCTIONS 10.5 Low-pass filter (1) Function When a ballscrew or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command.

  • Page 319: Function Block Diagram

    10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.2 Function block diagram The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection CDP (parameter No. PB26) and gain changing condition CDS (parameter No.

  • Page 320: Parameters

    10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.3 Parameters When using the gain changing function, always set " 3" in parameter No. PA08 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
  • Page 321 10. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. PB06 to PB10 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed integral compensation to be changed.

  • Page 322: Gain Changing Operation

    10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation Name Setting Unit PB07 Model loop gain rad/s Ratio of load inertia moment to servo motor PB06 times inertia moment...
  • Page 323 10. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit PB07 Model loop gain rad/s Ratio of load inertia moment to servo motor PB06 times inertia moment PB08 Position loop gain rad/s PB09 Speed loop gain 2...
  • Page 324 10. SPECIAL ADJUSTMENT FUNCTIONS MEMO 10 - 16...

  • Page 325: Troubleshooting

    11. TROUBLESHOOTING 11. TROUBLESHOOTING 11.1 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the MR Configurator, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.

  • Page 326: Operation At Error Occurrence

    11. TROUBLESHOOTING 11.2 Operation at error occurrence An error occurring during operation will result in any of the statuses indicated in the following table. Operation mode Error location Description Test operation CC-Link operation Servo side alarm Servo operation Stop Stop occurrence CC-Link data communication Continued...

  • Page 327: When Alarm Or Warning Has Occurred

    11. TROUBLESHOOTING 11.4 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (RYn0) at occurrence of an alarm. 11.4.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to section 11.4.2 or 11.4.3 and take the appropriate action.

  • Page 328: Remedies For Alarms

    11. TROUBLESHOOTING 11.4.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase (A25) occurred, always make home position setting again.
  • Page 329 11. TROUBLESHOOTING Display Name Definition Cause Action Memory error 2 EEP-ROM fault 1. Faulty parts in the servo amplifier Change the servo amplifier. (EEP-ROM) Checking method Alarm (A15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
  • Page 330 11. TROUBLESHOOTING Display Name Definition Cause Action Regenerative Permissible 1. Wrong setting of parameter No. Set correctly. alarm regenerative power PA02 of the built-in 2. Built-in regenerative resistor or Connect correctly regenerative resistor regenerative option is not or regenerative connected. option is exceeded.
  • Page 331 11. TROUBLESHOOTING Display Name Definition Cause Action Overvoltage The following shows 1. Regenerative option is not used. Use the regenerative option. the input value of 2. Though the regenerative option is Set correctly. used, the parameter No.PA02 converter bus setting is " 00 (not used)".
  • Page 332 11. TROUBLESHOOTING Display Name Definition Cause Action Overload 1 Load exceeded 1. Servo amplifier is used in excess 1. Reduce load. overload protection of its continuous output current. 2. Review operation pattern. characteristic of 3. Use servo motor that provides larger servo amplifier.
  • Page 333 11. TROUBLESHOOTING Display Name Definition Cause Action Error excessive The difference 1. Acceleration/deceleration time Increase the acceleration/deceleration time between the model constant is too small. constant. position and the 2. Foward torque limit (parameter Increase the torque limit value. actual servomotor No.PA11) or reverse torque limit position exceeds (parameter No.PA12) are too small.

  • Page 334: Remedies For Warnings

    11. TROUBLESHOOTING 11.4.3 Remedies for warnings If an absolute position counter warning (AE3) occurred, always make home CAUTION position setting again. Otherwise, misoperation may occur. POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty.
  • Page 335 11. TROUBLESHOOTING Display Name Definition Cause Action Software limit Software limit set in 1. Software limit was set within actual Set parameter No. PC31 to PC34 warning parameter is reached. operation range. correctly. 2. Point table of position data in excess of Set point table correctly.

  • Page 336: Point Table Error

    11. TROUBLESHOOTING Display Name Definition Cause Action Overload warning Operation, in which a During a stop, the status in which a current 1. Reduce the positioning current exceeding the flew intensively in any of the U, V and W frequency at the specific rating flew intensively in phases of the servo motor occurred positioning address.

  • Page 337: Outline Drawings

    12. OUTLINE DRAWINGS 12. OUTLINE DRAWINGS 12.1 Servo amplifier (1) MR-J3-10T MR-J3-20T MR-J3-10T1 MR-J3-20T1 [Unit: mm] Rating plate 6 mouting hole Approx.80 (Note) CNP1 CNP2 CNP3 Approx.68 Approx.25.5 With MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout.
  • Page 338 12. OUTLINE DRAWINGS (2) MR-J3-40T MR-J3-60T MR-J3-40T1 [Unit: mm] Rating plate 6 mouting hole Approx.80 (Note) CNP1 CNP2 CNP3 Approx.68 Approx.25.5 With MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 1.0 [kg] (2.21 [lb]) Terminal signal layout For 3-phase or...
  • Page 339 12. OUTLINE DRAWINGS (3) MR-J3-70T MR-J3-100T [Unit: mm] Rating plate 6 mouting hole Approx.80 CNP1 CNP2 CNP3 FAN WIND Approx. Approx.68 DIRECTION 25.5 With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout Approx.60 PE terminal CNP1 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) CNP3...
  • Page 340 12. OUTLINE DRAWINGS (4) MR-J3-200T MR-J3-350T [Unit: mm] 6 mouting hole Approx.80 Rating plate 21.4 CNP1 CNP3 CNP2 Approx. FAN WIND Approx.68 25.5 DIRECTION With MR-J3BAT 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...
  • Page 341 12. OUTLINE DRAWINGS (5) MR-J3-500T [Unit: mm] 2- 6 mounting hole Approx.80 131.5 68.5 Fan air Terminal layout orientation (Terminal cover open) ‚ b ‚ ` ‚ t ‚ s ‚ h ‚ n ‚ m ‚ b ‚ ` ‚ t ‚ s ‚ h ‚ n ‚ m ‚...
  • Page 342 12. OUTLINE DRAWINGS (6) MR-J3-700T [Unit: mm] Approx.80 Fan air orientation 6 mouting hole Rating plate With MR-J3BAT 99.8 14.5 102.6 149.2 24.5 7×13=91 Built-in regenerative resistor lead terminal fixing screw Mass: 6.2 [kg] (13.7[lb]) Terminal signal layout Approx.172 Approx.6 Approx.6 Terminal screw: M4 Tightening torque: 1.2[N m]...
  • Page 343 12. OUTLINE DRAWINGS (7) MR-J3-11KT to 22KT [Unit: mm] Approx.80 Fan air 2-12 mouting hole orientation With MR-J3BAT Rating plate 6×26＝156 Approx.260 Approx.12 Approx.12 4-M10 screw Servo amplifier Mass[kg]([lb]) MR-J3-11KT 18.0(40) MR-J3-15KT 18.0(40) MR-J3-22KT 19.0(42) Mounting hole process drawing Terminal signal layout Mounting screw Tightening torque Servo...

  • Page 344: Connector For Cn3

    12. OUTLINE DRAWINGS 12.2 Connector for CN3 (1) One-touch lock type [Unit: mm] Logo etc, are indicated here. 12.7 Each type of dimension Connector Shell kit 10120-3000VE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 (2) Jack screw M2.6 type This is not available as option. [Unit: mm] Logo etc, are indicated here.

  • Page 345: Characteristics

    13. CHARACTERISTICS 13. CHARACTERISTICS 13.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (A50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 13.1.
  • Page 346 13 CHARACTERISTICS 10000 1000 During operation 1000 During operation During servo lock During servo lock (Note) Load ratio [%] (Note) Load ratio [%] c. Electronic thermal relay d. Electronic thermal relay protection characteristics3 protection characteristics4 10000 1000 During operation During servo lock (Note) Load ratio [%] e.

  • Page 347: Power Supply Equipment Capacity And Generated Loss

    13 CHARACTERISTICS 13.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 13.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 13.1 in consideration for the worst operating conditions.
  • Page 348 13 CHARACTERISTICS (Note 1) (Note 2) Area required for Servo amplifier Servo motor Power supply Servo amplifier-generated heat[W] heat dissipation capacity[kVA] At rated torque With servo off HF-SP702 10.0 HA-LP702 10.6 MR-J3-700T HA-LP601 10.0 HA-LP701M 11.0 HA-LP11K2 16.0 11.0 HA-LP801 12.0 MR-J3-11KT HA-LP12K1...
  • Page 349 13 CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 ( 50 ) at the ambient temperature of 40 (104 ).

  • Page 350: Dynamic Brake Characteristics

    13 CHARACTERISTICS 13.3 Dynamic brake characteristics Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.
  • Page 351 13 CHARACTERISTICS 22K1M 20K1 11K1M 12K1 15K1 15K1M 701M 25K1 1000 1500 2000 800 1000 1200 Speed[r/min] Speed[r/min] HA-LP1000r/min series HA-LP1500r/min series 15K2 11K2 22K2 1000 1500 2000 1000 1500 2000 Speed[r/min] Speed[r/min] HA-LP2000r/min series HC-LP series Fig. 13.5 Dynamic brake time constant2 Use the dynamic brake at the load inertia moment indicated in the following table.

  • Page 352: Cable Flexing Life

    13 CHARACTERISTICS 13.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 10 5 10 1 10 a : Long flexing life encoder cable Long flexing life motor power cable 5 10 Long flexing life motor brake cable...

  • Page 353: Options And Auxiliary Equipment

    14. OPTIONS AND AUXILIARY EQUIPMENT 14. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, make sure that the charge WARNING lamp is off more than 15 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. Use the specified auxiliary equipment and options.
  • Page 354 14. OPTIONS AND AUXILIARY EQUIPMENT 24) 25) Servo motor 28) 29) HF-SP Power supply Brake Encoder connector connector connector 24) 25) Servo motor HC-RP 30) 35) 36) HC-UP HC-LP Power supply Brake Encoder connector connector connector 24) 25) Servo motor HA-LP Terminal box 14 - 2...
  • Page 355 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 1) Servo Supplied with amplifier servo power supply amplifiers of connector 1kW or less CNP1 CNP2 CNP3 connector: 54928-0610 connector: 54927-0510 connector: 54928-0310 (Molex) (Molex) (Molex) <Applicable cable example> Wire size: 0.14mm (AWG26) to 2.5mm (AWG14) REC.
  • Page 356 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 9) Motor brake MR-BKS1CBL M-A1-L IP65 Brake connector cable Cable length: 2 5 10m Load side lead 10) Motor brake MR-BKS1CBL M-A1-H IP65 HF-MP series cable Cable length: 2 5 10m Load side lead HF-KP series Long flex life...
  • Page 357 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 21) Encoder MR-EKCBL IP20 cable Cable length: 20 30m 22) Encoder MR-EKCBL IP20 cable Cable length: Long flex life For HF-MP HF-KP series 20 30 40 50m Refer to section 14.1.2 (2) for details. 23) Encoder MR-ECNM IP20...
  • Page 358 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 32) USB cable MR-J3USBCBL3M For CN5 connector For personal computer connector For connection Cable length: 3m minB connector (5-pin) A connector with PC-AT compatible personal computer 33) Connector MR-J2CMP2 Connector: 10126-3000VE Shell kit: 10326-52F0-008(3M or equivalent) 34) Break MR-BKCN...

  • Page 359: Encoder Cable/Connector Sets

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 Encoder cable/connector sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model.
  • Page 360 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable internal wiring diagram MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR-J3ENCBL10M-L/-H Encoder side Servo amplifier connector side connector Plate (2) MR-EKCBL M-L/H POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set parameter No. PC22 to "1 "...
  • Page 361 14. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo amplifier MR-EKCBL M-L MR-J3JCBL03M-L MR-EKCBL M-H Cable length: 0.3m Servo motor HF-MP HF-KP Cable Model 1) Servo amplifier side Connector 2) Encoder side Connector MR-EKCBL Receptacle: 36210-0100FD Connector set: 54599-1019 Housing: 1-172161-9 Shell kit: 536310-3200-008...
  • Page 362 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-EKCBL20M-L MR-EKCBL30M-L Servo amplifier side Encoder side Servo amplifier side Encoder side Plate (Note) CONT Plate (Note) MR-EKCBL20M-H MR-EKCBL30M-H MR-EKCBL40M-H Servo amplifier side Encoder side MR-EKCBL50M-H Servo amplifier side Encoder side Plate (Note) CONT...
  • Page 363 14. OPTIONS AND AUXILIARY EQUIPMENT (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in (b). Refer to section 14.9 for the specifications of the used cable. Parts/Tool Description Connector set...
  • Page 364 14. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor MR-J3JCBL03M-A1-L Servo amplifier Servo motor HF-MP HF-KP MR-EKCBL M-L/-H MR-J3JCBL03M-A2-L Servo motor HF-MP HF-KP Cable Model 1) Junction Connector 2) For Encoder Connector MR-J3JCBL03M-A1-L Housing: 1-172169-9 Connector: 1674320-1 Contact: 1473226-1 Crimping tool for ground clip: 1596970-1 Cable clamp: 316454-1...
  • Page 365 14. OPTIONS AND AUXILIARY EQUIPMENT (4) MR-J3ENSCBL M-L MR-J3ENSCBL These cables are detector cables for HF-SP Series servomotors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols are prepared.
  • Page 366 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-J3ENSCBL2M-L/H MR-J3ENSCBL20M-L MR-J3ENSCBL20M-H MR-J3ENSCBL30M-L MR-J3ENSCBL5M-L/H MR-J3ENSCBL30M-H MR-J3ENSCBL10M-L/H MR-J3ENSCBL40M-H Encoder side Servo amplifier MR-J3ENSCBL50M-H connector side connector Encoder side Servo amplifier Encoder side Servo amplifier connector side connector connector side connector Plate Plate Plate (c) When fabricating the encoder cable...
  • Page 367 14. OPTIONS AND AUXILIARY EQUIPMENT (5) MR-J3BTCBL03M This cable is a battery connection cable. Use this cable to retain the current position even if the detector cable is disconnected from the servo amplifier. Cable Cable Model Application Length MR-J3BTCBL03M 0.3m For HF-MP HF-KP HF-SP servo motor (a) Connection of servo amplifier and servo motor Servo amplifier...

  • Page 368: Motor Power Supply Cables

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model.

  • Page 369: Motor Brake Cables

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.

  • Page 370: Regenerative Options

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 Regenerative options The specified combinations of regenerative options and servo amplifiers may only CAUTION be used. Otherwise, a fire may occur. (1) Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. Regenerative power[W] Built-in Servo amplifier...
  • Page 371 14. OPTIONS AND AUXILIARY EQUIPMENT Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor [N m] Energy [J] 0.1047 psa1 9.55 10 psa1 0.1047 N 0.1047 psd1 9.55 10 psd1 4), 8) 0 (No regeneration) 0.1047 psa2 9.55 10...
  • Page 372 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection of the regenerative option Set parameter No. PA02 according to the open to be used. Parameter No. PA02 Selection of regenerative 00: Regenerative option is not used For MR-J3-10T, regenerative resistor is not used. For MR-J3-20T or more 700T or less, built-in regenerative resistor is used.
  • Page 373 14. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50 install the cooling fan as shown. [Unit : mm] Fan installation screw hole dimensions 2-M3 screw hole (for fan installation) Terminal block Depth 10 or less (Screw hole already machined) Thermal relay Bottom 82.5 Recommended fan:...
  • Page 374 14. OPTIONS AND AUXILIARY EQUIPMENT The drawing below shows the MR-J3-500B. Refer to (6) of section 12.1 Outline drawings for the position of the fixing screw for MR-J3-700T. Built-in regenerative resistor lead terminal fixing screw For the MR-RB51 install the cooling fan as shown. [Unit : mm] Fan installation screw hole dimensions 2-M3 screw hole...
  • Page 375 14. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-J3-11KT to MR-J3-22KT (when using the supplied regenerative resistor) When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative resistors burn.
  • Page 376 14. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-J3-11KT-PX to MR-J3-22KT-PX (when using the regenerative option) The MR-J3-11KT-PX to MR-J3-22KT-PX servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the MR-RB5E, 9P and 9F regenerative option. The MR-RB5E, 9P and 9F are regenerative options that have encased the GRZG400-1.5 , GRZG400- 0.9 , GRZG400-0.6 respectively.
  • Page 377 14. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline dimension drawings (a) MR-RB032 MR-RB12 [Unit: mm] TE1 terminal block 6 mounting hole Terminal screw: M3 MR-RB Tightening torque: 0.5 to 0.6 [N m] (4 to 5 [lb in]) Mounting screw Screw: M5 Tightening torque: 3.2 [N m] (28.3 [lb in ]) Regenerative Variable dimensions...
  • Page 378 14. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 Terminal block Fan mounting screw (2-M3 screw) 82.5 On opposite side Terminal screw: M4 Tightening torque: 1.2 [N m](10 [lb in]) 14 slot Mounting screw Screw : M6 Tightening torque: 5.4 [N m](47.79 [lb in]) Wind blows in the arrow direction.

  • Page 379: Brake Unit

    14. OPTIONS AND AUXILIARY EQUIPMENT (e) GRZG400-1.5 GRZG400-0.9 GRZG400-0.6 (standard accessories) Approx. Approx. Approx. Variable Tightening Regenerative Mounting Mass [kg] dimensions torque brake screw size ([lb]) [N m] ([lb in]) Approx.330 GRZG400-1.5 Approx. 13.2 GRZG400-0.9 (116.83) (1.76) GRZG400-0.6 14.3 Brake Unit POINT The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier.
  • Page 380 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier No-fuse breaker (Note 2) Power supply 3-phase (Note 1) (Note 1) 200 to 230VAC Alarm output (Note 3) FR-BU brake unit FR-BR resistor unit Note 1. Make up the external sequence to switch the power off when an alarm occurs or when the thermal relay is actuated. 2.
  • Page 381 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions (a) Brake unit (FR-BU) [Unit : mm] (Note) Operation Control circuit display terminals Main circuit terminals Note: Ventilation ports are provided in both side faces and top face. The bottom face is open. Approx.

  • Page 382: Power Regeneration Converter

    14. OPTIONS AND AUXILIARY EQUIPMENT (b) Resistor unit (FR-BR) [Unit : mm] 2- D Control circuit (Note) terminals Main circuit terminals FR-BR-55K Two eye bolts are provided (as shown below). Approx.E Approx.E AA 5 Eye bolt Note: Ventilation ports are provided in both side faces and top face. The bottom face is open. Approx.
  • Page 383 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier Power factor improving reactor FR-BAL Power supply 3-phase 200 to 230VAC 24VDC DOCOM Forced stop DICOM DOCOM (Note 3, 5) Trouble (Note 2) 5m or less (Note 4) Ready output Alarm output R R X...
  • Page 384 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm] Mounting foot (removable) 2- D hole Mounting foot movable Rating plate Display panel Front cover window Cooling fan Heat generation area outside mounting dimension Power Approx.

  • Page 385: Power Regeneration Common Converter

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.5 Power regeneration common converter POINT For details of the power regeneration common converter FR-CV, refer to the FR-CV Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L ) of the servo amplifier.
  • Page 386 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection diagram Servo amplifier Servo motor FR-CVL FR-CV R2/L R2/L 3-phase S2/L 200 to S2/L Thermal (Note 7) 230VAC T2/L relay 0HS2 T2/L (Note 6) (Note 2) 0HS1 (Note 1) (Note 5) T/MC1 DOCOM RESET DICOM RDYB...
  • Page 387 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Wires used for wiring (a) Wire sizes 1) Across P-P, N-N The following table indicates the connection wire sizes of the DC power supply (P, N terminals) between the FR-CV and servo amplifier. The used wires are based on the 600V vinyl wires. Total of servo amplifier capacities [kW] Wires [mm 1 or less...
  • Page 388 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Example of selecting the wire sizes When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P, N. Also, connect the servo amplifiers in the order of larger to smaller capacities. Wire as short as possible.
  • Page 389 14. OPTIONS AND AUXILIARY EQUIPMENT (6) Specifications Power regeneration common converter FR-CV- 7.5K Item Total of connectable servo amplifier capacities [kW] 3.75 18.5 27.5 Maximum servo amplifier capacity [kW] Total of connectable servo motor rated currents Short-time Output Total capacity of applicable servo motors, 300% torque, 60s (Note1) Regenerative rating braking torque...

  • Page 390: External Dynamic Brake

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.6 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on signal at a power failure or failure.
  • Page 391 14. OPTIONS AND AUXILIARY EQUIPMENT (1) Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built in the 11kW or more servo amplifier, purchase it separately if required.
  • Page 392 14. OPTIONS AND AUXILIARY EQUIPMENT Coasting Coasting Forward rotation Servo motor Dynamic brake Dynamic brake 0r/min rotation Present Absent Base Invalid Dynamic brake Valid Short Forced stop (EMG) Open a. Timing chart at alarm occurrence b. Timing chart at Forced stop (EMG) validity Coasting Dynamic brake Forward...
  • Page 393 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing [Unit: mm] Terminal block 13 14 (GND) Screw : M4 Screw : M3.5 Tightening torque: 1.2 [N m](10.6 [lb in]) Tightening torque: 0.8 [N m](7 [lb in]) Mass Connection Dynamic brake [kg]([Ib]) wire [mm DBU-11K...

  • Page 394: Battery Mr-J3Bat

    The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11), Z(12). For October 2004, the Serial No. is like, "SERIAL ". MELSERVO MR-J3BA 3.6V,2000mAh SERIAL MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN The year and month of manufacture 14 - 42...

  • Page 395: Heat Sink Outside Mounting Attachment (Mr-J3Acn)

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.8 Heat sink outside mounting attachment (MR-J3ACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
  • Page 396 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Fitting method Attachment Punched hole Servo amplifier Fit using the Servo assembiling Control box amplifier screws. Attachment a. Assembling the heat sink outside mounting attachment b. Installation to the control box (4) Outline dimension drawing Panel Servo amplifier...
  • Page 397 14. OPTIONS AND AUXILIARY EQUIPMENT 14.9 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. 1) Main circuit power supply lead 3) Motor power supply lead Servo motor Servo amplifier Power supply...

  • Page 398: Recommended Wires

    14. OPTIONS AND AUXILIARY EQUIPMENT Table 14.1 Recommended wires Wires [mm Servo amplifier 2) L 4) P C 5) B1 B2 U V W BU BV BW OHS1 OHS2 MR-J3-10T (1) MR-J3-20T (1) 1.25 (AWG16) MR-J3-40T (1) 2 (AWG14) MR-J3-60T MR-J3-70T 2(AWG14) MR-J3-100T...
  • Page 399 14. OPTIONS AND AUXILIARY EQUIPMENT Use wires 8) of the following sizes with the brake unit (FR-BU) and power regeneration converter (FR-RC). Model Wires[mm FR-BU-15K 3.5(AWG12) FR-BU-30K 5.5(AWG10) FR-BU-55K 14(AWG6) FR-RC-15K 14(AWG6) FR-RC-30K 14(AWG6) FR-RC-55K 22(AWG4) Table 14.2 Recommended crimping terminals Servo amplifier side crimping terminals Servo amplifier side crimping terminals Symbol...
  • Page 400 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 14.3 Wires for option cables Characteristics of one core (Note 3) Insulation Length Core size Number Conductor Type...
  • Page 401 60nF/km or less Characteristic impedance (1MHz) 100 15 Sheath Shield Blue White Yellow Section Aluminum tape Ground wire Outline dimension Approx. Mass 65kg/km Note. For any inquiry, please contact your nearest Mitsubishi Electric System Service Co., Ltd. 14 - 49...

  • Page 402: Fuse Breakers, Fuses, Magnetic Contactors

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.10 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. No-fuse breaker Fuse Magnetic...

  • Page 403: Power Factor Improving Dc Reactor

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.11 Power factor improving DC reactor POINT For 100VAC class servo amplifiers, the power factor improving DC reactor cannot be used. The power factor improving DC reactor increases the form factor of the servo amplifier's input current to improve the power factor.

  • Page 404: Power Factor Improving Reactors

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.12 Power factor improving reactors The power factor improving reactors improve the phase factor by increasing the form factor of servo amplifier's input current. It can reduce the power capacity. The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be slightly lower than 90%.

  • Page 405: Relays (Recommended)

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.13 Relays (recommended) The following relays should be used with the interfaces: Interface Selection example Relay used for digital input command signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts).

  • Page 406: Noise Reduction Techniques

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.15 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.
  • Page 407 14. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
  • Page 408 14. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
  • Page 409 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Relay Surge suppressor Surge suppressor This distance should be short Surge suppressor...
  • Page 410 14. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] Earth plate Clamp section diagram 2- 5 hole 17.5 installation hole L or less (Note)M4 screw Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type Accessory fittings Clamp fitting...
  • Page 411 14. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01, FR-BLF) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.

  • Page 412: Leakage Current Breaker

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.16 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
  • Page 413 14. OPTIONS AND AUXILIARY EQUIPMENT Table 14.4 Servo motor’s leakage current example (Igm) Table 14.5 Servo amplifier's leakage current example (Iga) Servo amplifier capacity Servo motor output [kW] Leakage current [mA] Leakage current [mA] [kW] 0.05 to 1 0.1 to 0.6 0.75 to 3.5 0.15 11 15...

  • Page 414: Emc Filter (Recommended)

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.17 EMC filter (recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Servo amplifier Mass [kg]([lb])
  • Page 415 14. OPTIONS AND AUXILIARY EQUIPMENT HF3030A-UN HF-3040A-UN Dimensions [mm] Model HF3030A-UN R3.25, length HF3040A-UN HF3100A-UN 2- 6.5 2-6.5 380 1 400 5 14 - 63...

  • Page 416: Mr-Hdp01 Manual Pulse Generator

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.18 MR-HDP01 manual pulse generator Use the MR-HDP01 manual pulse generator to rotate the servo motor. Using external input signals, the moving distance of the servo motor can be specified in accordance with pulses generated from MR-HDP01. To do this specification, in the parameter No.
  • Page 417 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Terminal layout Signal Description +5 to +5 to 12V Power input 0V A Common for power and signal A-phase pulse output B-phase pulse output (4) Installation Panel cut 3-φ4.8 Equally spaced (5) Outline drawing [Unit: mm] Packing t2.0 3-M4 stud L10...
  • Page 418 14. OPTIONS AND AUXILIARY EQUIPMENT MEMO 14 - 66...

  • Page 419: Communication Function

    Interface cable DSV-CABV(Dia Trend) To RS-232C connector RS-422/232C communication converter FA-T-RS40VS (Mitsubishi Electric Engineering) (2) Multidrop connection (a) Diagrammatic sketch Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier...
  • Page 420 15. COMMUNICATION FUNCTION (b) Cable connection diagram Wire the cables as shown below. (Note 3) 30m or less (Note 1) (Note 1) (Note 1, 7) Axis 1 servo amplifier Axis 2 servo amplifier Axis n servo amplifier CN3 connector CN3 connector CN3 connector (RJ45 connector) (RJ45 connector)

  • Page 421: Communication Specifications

    15. COMMUNICATION FUNCTION 15.2 Communication specifications 15.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station.

  • Page 422: Parameter Setting

    15. COMMUNICATION FUNCTION 15.2.2 Parameter setting When the USB/RS-422 communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again. (1) Serial communication baud rate Choose the communication speed.

  • Page 423: Protocol

    15. COMMUNICATION FUNCTION 15.3 Protocol 15.3.1 Transmission data configuration Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station number to each servo amplifier using the parameter and set the group to each station using the communication command.

  • Page 424: Character Codes

    15. COMMUNICATION FUNCTION 15.3.2 Character codes (1) Control codes Hexadecimal Personal computer terminal key operation Code name Description (ASCII code) (General) start of head ctrl start of text ctrl end of text ctrl end of transmission ctrl (2) Codes for data ASCII codes are used.

  • Page 425: Error Codes

    15. COMMUNICATION FUNCTION 15.3.3 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station.

  • Page 426: Time-Out Operation

    15. COMMUNICATION FUNCTION 15.3.5 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300ms after the master station has ended communication operation. 100ms after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.

  • Page 427: Initialization

    15. COMMUNICATION FUNCTION 15.3.7 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after: (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.

  • Page 428: Command And Data No. List

    15. COMMUNICATION FUNCTION 15.4 Command and data No. list POINT If the command and data No. are the same, the description may be different depending on models of servo amplifiers. 15.4.1 Read commands (1) Status display (Command [0][1]) Command Data No. Description Display Item Frame Length...
  • Page 429 15. COMMUNICATION FUNCTION (2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8] [0][9]) Command Data No. Description Frame Length [0] [4] [0] [1] Parameter group read 0000: Basic setting parameter (No.PA 0001: Gain filter parameter (No.PB 0002: Extension setting parameter (No.PC 0003: I/O setting parameter (No.PD [0] [5] [0] [1] to [F] [F] Current values of parameters...
  • Page 430 15. COMMUNICATION FUNCTION (4) Alarm history (Command [3][3]) Command Data No. Description Alarm Occurrence Sequence Frame Length [3] [3] [1] [0] Alarm number in alarm history most recent alarm [1] [1] first alarm in past [1] [2] second alarm in past [1] [3] third alarm in past [1] [4]...
  • Page 431 15. COMMUNICATION FUNCTION (6) Point table/position data (Command [4][0]) Command Data No. Description Frame length [4][0] [0][1] to [F][F] Position data read The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. (7) Point table/speed data (Command [5][0]) Command Data No.

  • Page 432: Write Commands

    15. COMMUNICATION FUNCTION (14) Others Command Data No. Description Frame length [0] [2] [9] [0] Servo motor end pulse unit absolute position [9] [1] Command unit absolute position [7] [0] Software version 15.4.2 Write commands (1) Status display (Command [8][1]) Command Data No.
  • Page 433 15. COMMUNICATION FUNCTION (8) Point table/acceleration time constant (Command [C][7]) Command Data No. Description Setting range Frame length [C][7] [0][1] to [F][F] Acceleration time constant write 0 to 20000 The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. (9) Point table/deceleration time constant (Command [C][8]) Command Data No.
  • Page 434 15. COMMUNICATION FUNCTION (14) Test operation mode data (Command [9][2] [A][0]) Command Data No. Description Setting Range Frame Length [9] [2] [0] [0] Input signal for test operation Refer to section 15.5.7. [0] [1] [A] [0] Forced output of signal pin Refer to section 15.5.9.

  • Page 435: Detailed Explanations Of Commands

    15. COMMUNICATION FUNCTION 15.5 Detailed explanations of commands 15.5.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.
  • Page 436 15. COMMUNICATION FUNCTION (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.

  • Page 437: Status Display

    15. COMMUNICATION FUNCTION 15.5.2 Status display (1) Reading the status display name and unit Read the status display name and unit. (a) Transmission Transmit command [0][1] and the data No. corresponding to the status display item to be read, [0][0] to [0][E].

  • Page 438: Parameters

    15. COMMUNICATION FUNCTION 15.5.3 Parameters (1) Specify the parameter group The group of the parameters to be operated must be specified in advance to read or write the parameter settings, etc. Write data to the servo amplifier as described below to specify the parameter group to be operated.
  • Page 439 15. COMMUNICATION FUNCTION (4) Reading the setting Read the parameter setting. Specify the parameter group in advance (refer to (1) in this section). (a) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No., [0][0] to [F][F]. (Refer to section 15.4.1.) The data No.
  • Page 440 15. COMMUNICATION FUNCTION (6) Parameter write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.

  • Page 441: External I/O Signal Statuses (Dio Diagnosis)

    15. COMMUNICATION FUNCTION 15.5.4 External I/O signal statuses (DIO diagnosis) (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and the data No. corresponding to the input device. Command Data No. [1][2] [0][0] [0][1]...
  • Page 442 15. COMMUNICATION FUNCTION (2) External input pin status read Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Command Data No. [1][2] [4][0] (b) Reply The ON/OFF statuses of the input pins are sent back. 1:ON 0:OFF Command of each bit is transmitted to the master...
  • Page 443 15. COMMUNICATION FUNCTION (3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and the data No. corresponding to the input device. Command Data No.
  • Page 444 15. COMMUNICATION FUNCTION (4) External output pin status read Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and data No. [C][0]. Command Data No. [1][2] [C][0] (b) Reply The slave station sends back the ON/OFF statuses of the output pins. 1:ON 0:OFF Command of each bit is transmitted to the master...
  • Page 445 15. COMMUNICATION FUNCTION (5) Read of the statuses of output devices Read the ON/OFF statuses of the output devices. (a) Transmission Transmit command [1][2] and the data No. corresponding to the output device. Command Data No. [1][2] [8][0] [8][1] (b) Reply The slave station sends back the statuses of the output devices.

  • Page 446: Device On/Off

    15. COMMUNICATION FUNCTION 15.5.5 Device ON/OFF POINT The ON/OFF states of all devices in the servo amplifier are the states of the data received last. Hence, when there is a device which must be kept ON, send data which turns that device ON every time. Each input device can be switched on/off.

  • Page 447: Disable/Enable Of I/O Devices (Dio)

    15. COMMUNICATION FUNCTION 15.5.6 Disable/enable of I/O devices (DIO) Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input signals (devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be disabled. Signal Status Input devices (DI)

  • Page 448: Input Devices On/Off (Test Operation)

    15. COMMUNICATION FUNCTION 15.5.7 Input devices ON/OFF (test operation) Each input devices can be turned on/off for test operation. when the device to be switched off exists in the external input signal, also switch off that input signal. Send command [9] [2], data No. corresponding to the input device and data. Command Data No.

  • Page 449: Test Operation Mode

    15. COMMUNICATION FUNCTION 15.5.8 Test operation mode POINT The test operation mode is used to confirm operation. Do not use it for actual operation. If communication stops for longer than 0.5s during test operation, the servo amplifier decelerates to a stop, resulting in servo lock. To prevent this, continue communication all the time, e.g.
  • Page 450 15. COMMUNICATION FUNCTION (2) JOG operation Send the command, data No. and data as indicated below to execute JOG operation. Start Select the JOG operation in the test Command : [8][B] operation mode. Data No. : [0][0] Data : 0001(JOG operation) Servo motor speed setting Command : [A][0] Data No.
  • Page 451 15. COMMUNICATION FUNCTION (3) Positioning operation (a) Operation procedure Send the command, data No. and data as indicated below to execute positioning operation. Start Select the positioning operation in Command : [8][B] the test operation mode. Data No. : [0][0] Data : 0002 (positioning operation) Servo motor speed setting...
  • Page 452 15. COMMUNICATION FUNCTION (b) Temporary stop/restart/remaining distance clear Send the following command, data No. and data during positioning operation to make deceleration to a stop. Command Data No. Data [A][0] [4][1] STOP Send the following command, data No. and data during a temporary stop to make a restart. Command Data No.
  • Page 453 15. COMMUNICATION FUNCTION (4) Single-step feed Set necessary items to the point table before starting the single-step feed. Send the command, data No. and data as indicated below to execute single-step feed. Start Command : [8][B] Data No. : [0][0] Select the single-step feed in the Data : 0005 (Single-step feed)
  • Page 454 15. COMMUNICATION FUNCTION (5) Output signal pin ON/OFF output signal (DO) forced output In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (a) Choosing DO forced output in test operation mode Transmit command [8][B] data No.

  • Page 455: Alarm History

    15. COMMUNICATION FUNCTION 15.5.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No.

  • Page 456: Current Alarm

    15. COMMUNICATION FUNCTION 15.5.10 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. Alarm No.

  • Page 457: Point Table

    15. COMMUNICATION FUNCTION 15.5.11 Point table (1) Data read (a) Position data Read the position data of the point table. 1) Transmission Transmit command [4][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read.
  • Page 458 15. COMMUNICATION FUNCTION (c) Acceleration time constant Read the acceleration time constant of the point table. 1) Transmission Transmit command [5][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 15.4.1. 2) Reply The slave station sends back the acceleration time constant of the requested point table.
  • Page 459 15. COMMUNICATION FUNCTION (e) Dwell Read the dwell of the point table. 1) Transmission Transmit command [6][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 15.4.1. 2) Reply The slave station sends back the dwell of the requested point table. Hexadecimal data Display type 0: Used unchanged in hexadecimal...
  • Page 460 15. COMMUNICATION FUNCTION (2) Data write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.
  • Page 461 15. COMMUNICATION FUNCTION (c) Acceleration time constant Write the acceleration time constant of the point table. Transmit command [C][7], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 15.4.2. Command Data No.
  • Page 462 15. COMMUNICATION FUNCTION (f) Auxiliary function Write the auxiliary function of the point table. Transmit command [C][B], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 15.4.2. Command Data No.

  • Page 463: Servo Amplifier Group Designation

    15. COMMUNICATION FUNCTION 15.5.12 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group. (1) Group setting write Write the group designation value to the slave station. (a) Transmission Transmit command [9][F], data No.

  • Page 464: Other Commands

    15. COMMUNICATION FUNCTION 15.5.13 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. Note that overflow will occur in the position of 8192 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No.

  • Page 465: Appendix

    Appendix App 1. Parameter list POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. Basic setting parameters (PA Gain/filter parameters (PB Symbol Name Symbol...
  • Page 466 Appendix Extension setting parameters (PC I/O setting parameters (PD Symbol Name Symbol Name PC01 For manufacturer setting PD01 *DIA1 Input signal automatic ON selection 1 PC02 *ZTY Home position return type PD02 For manufacturer setting PC03 *ZDIR Home position return direction PD03 *DIA3 Input signal automatic ON selection 3...

  • Page 467: App 2. Signal Layout Recording Paper

    Appendix App 2. Signal layout recording paper DOCOM DICOM App - 3...

  • Page 468: App 3. Twin Type Connector: Outline Drawing For 721-2105/026-000(Wago)

    Appendix App 3. Twin type connector: outline drawing for 721-2105/026-000(WAGO) Latch Coding finger Detecting hole 4 5( 20) (4 1.97( 0.788)) 26.45 15.1 5.25 2.75 4.75 Driver slot Wire inserting hole App - 4...

  • Page 469: App 4. Combination Of Servo Amplifier And Servo Motor

    Appendix App 4. Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indicated can be used regardless of the versions. Servo amplifier Servo amplifier Servo motor...
  • Page 470 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Apr., 2006 SH(NA)030058-A First edition Chapter 2 CAUTION added Jul., 2006 SH(NA)030058-B Section 3.5.2(2) Description of DB changed Section 3.5.3 Note deleted Section 3.6.3(1) On duration: 5ms of RYn1 and RYn2 in diagram modified Section 3.6.3(2)
  • Page 471 MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030058-B (0607) MEE Printed in Japan Specifications subject to change without notice.

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