Mitsubishi Electric MR-J2M-P8B - Manuals

A - 7 About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law ofeach country (area). FOR MAXIMUM SAFETY These products have been manufactured as a general-purpose part for general industries, and have not been designed...

A - 8 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 (effe...

A - 9 (3) Environment Operate MELSERVO-J2M at or above the contamination level 2 set forth in IEC60664-1. For thispurpose, install MELSERVO-J2M in a control box which is protected against water, oil, carbon, dust,dirt, etc. (IP54). (4) Power supply (a) Operate MELSERVO-J2M to meet the requirements o...

A - 10 CONFORMANCE WITH UL/C-UL STANDARD The MELSERVO-J2M complies with UL508C. (1) Unit and servo motors used Use the each units and servo motors which comply with the standard model. Drive unit :MR-J2M- DU Interface unit :MR-J2M-P8B Base unit :MR-J2M-BU Servo motor :HC-KFS HC-MFS HC-UFS (2) Instal...

1 - 1 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Overview The Mitsubishi general-purpose AC servo MELSERVO-J2M series is an AC servo which has realizedwiring-saving, energy-saving and space-saving in addition to the high performance and high functions ofthe MELSERVO-J2-Super s...

1 - 2 1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram W RS-232C D/A NFB MC UVW M L 11 L 21 L 1 L 2 L 3 CNP3 P NC CNP1A UV M CN1 A CN1B CN3 CNP2 CN2 CNP2 CN2 W UV M CNP2 CN2 CON3 A-3 H CON3A-3H CON3A-3H FR-BAL Powersupply3-phase200 to230VAC(Note)1-phase200 to230VAC Base unit Interface unit ...

1 - 3 1. FUNCTIONS AND CONFIGURATION 1.3 Unit standard specifications (1) Base unit Model MR-J2M-BU4 MR-J2M-BU6 MR-J2M-BU8 Number of slots 4 6 8 Voltage/frequency 3-phase 200 to 230VAC or 1-phase 200 to 230VAC, 50/60Hz Permissible voltage fluctuation 1-phase 170 to 253VAC Permissible frequency fluct...

1 - 5 1. FUNCTIONS AND CONFIGURATION 1.5 Model code definition (1) Drive unit (a) Rating plate 400WDC270V-311V170V 0-360Hz 2.3AN9Z95046 MR-J2M-40DU SON ALM MODEL POWERINPUTOUTPUTSERIALTC300A***G51 MITSUBISHI ELECTRIC ModelCapacityApplicable power supplyRated output currentSerial number Rating plate ...

1 - 6 1. FUNCTIONS AND CONFIGURATION (3) Base unit (a) Rating plate MITSUBISHI MADE IN JAPAN MR-J2M-BU4 3PH 200-230 INPUT : SERIAL: 14A 50/60Hz N87B95046 BC336U246 MODEL MITSUBISHI ELECTRIC PASSED ModelApplicable powersupplySerial number Rating plate (b) Model code 6 1920 4 8 160024003200 1280 2560 ...

1 - 7 1. FUNCTIONS AND CONFIGURATION 1.7 Parts identification (1) Drive unit Status indicator LED Indicates the status of the drive unit.Blinking green: Servo off statusSteady green: Servo on statusBlinking red: Warning statusSteady red: Alarm status CN2Encoder connectorConnect the servo motor encod...

1 - 9 1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment WARNING To prevent an electric shock, always connect the protective earth (PE) terminal(terminal marked ) of the base unit to the protective earth (PE) of the control box. L 21 C P L 2 L 1 L 3 L 11 Options and auxiliary e...

2 - 1 2. INSTALLATION AND START UP 2. INSTALLATION AND START UP CAUTION 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 ...

2 - 2 2. INSTALLATION AND START UP 2.2 Installation direction and clearances CAUTION The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between each unit and control box inside walls or other equipment. (1) Installation of one MELSERV...

2 - 3 2. INSTALLATION AND START UP (3) Others When using heat generating equipment such as the regenerative brake option, install them with fullconsideration of heat generation so that MELSERVO-J2M is not affected.Install MELSERVO-J2M on a perpendicular wall in the correct vertical direction. 2.3 Ke...

2 - 5 2. INSTALLATION AND START UP 3) 3) Sectional view Wall 3) Tighten the M4 screw supplied for the base unit to fasten the drive unit to the base unit. POINT Securely tighten the drive unit fixing screw. Sectional view Wall (3) Drive unit (MR-J2M-70DU) When using the MR-J2M-70DU, install it on tw...

2 - 6 2. INSTALLATION AND START UP 2.6 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) Check that the control circuit power cable, main circuit power cable and servo motor power cable are fabricated properly. (b) Check that the control circui...

2 - 7 2. INSTALLATION AND START UP 2.7 Start up WARNING Do not operate the switches with wet hands. You may get an electric shock.Do not operate the controller with the front cover removed. High-voltage terminals and charging area exposed and you may get an electric shock. During power-on or operati...

2 - 9 2. INSTALLATION AND START UP 2.8 Control axis selection POINT The control axis number set to the IFU parameter software should be the same as the one set to the servo system controller. Set the control axis numbers of the drive units in the IFU parameters No. 11 to 18.Setting the same control ...

3 - 1 3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring should be fully competent to do the work.Before starting wiring, make sure that the voltage is safe in the tester more than 15 minutes after power-off. Otherwise, you may get an electric shock. Ground the ...

3 - 2 3. SIGNALS AND WIRING 3.1 Connection example of control signal system POINT Refer to Section 3.4 for the connection of the power supply system and to Section 3.5 for connection with the servo motor. EM1 20 A 4 MO1 14 MO2 7 MO3 11 LGSD 8 VIN A A CON4 CON5 MR-J2M-BT SG 3 13 MBR RA CN3 CN3 CN2 CN...

3 - 6 3. SIGNALS AND WIRING 3.2.3 Interfaces (1) Common line The following diagram shows the power supply and its common line. MR LG SD SG VIN DI-1 RA TXD RXD RS-232 MRR LG SD M E LG SD SG RA MBR Interface unit 24VDC SON .etc Base unit Drive unit Extension IO unit Ground 24VDC LAR.etc LA.etc Differe...

3 - 7 3. SIGNALS AND WIRING (2) Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated inSections 3.2.2.Refer to this section and connect the interfaces with the external equipment. (a) Digital input interface...

3 - 9 3. SIGNALS AND WIRING 3.3 Signals and wiring for extension IO unit 3.3.1 Connection example POINT The pins without symbols can be assigned any devices using the MR Configurator (servo configuration software). RA2 RA4 RA1 9 10 34 35 MR-J2M-D01 RA3 LA1 LG LAR1 LB1 LBR1 LZ1 LZR1 LA2 LAR2 LB2 LBR2...

3 - 11 3. SIGNALS AND WIRING 3.3.2 Connectors and signal configurations (1) Signal configurations POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. CN4A LB1 49 LA2 47 LZ2 45 LB3 43 LA4 41 LZ4 39 SG 37 35 33 31 29 27 LA1 50 LZ1 48 LB2 46 LA3 44 LZ3 ...

3 - 14 3. SIGNALS AND WIRING 3.4 Signals and wiring for base unit CAUTION When each unit has become faulty, switch power off on the base unit power side. Continuous flow of a large current may cause a fire. Switch power off at detection of an alarm. Otherwise, a regenerative brake transistor fault o...

3 - 16 3. SIGNALS AND WIRING 3.4.2 Connectors and signal configurations POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. 1 3 2 2 3 1 N P C L 3 L 2 L 1 1 2 3 L 11 L 21 CNP1A Base unit (X type) (Y type) The connector frames are connected to the PE (...

3 - 18 3. SIGNALS AND WIRING 3.4.4 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.4.1 using the magnetic contactor with the main circuit power supply (3-phase 200V: L 1 , L 2 , L 3 , 1-phase 200 to 230VAC: L 1 , L 2 ). Configure up an external se...

3 - 19 3. SIGNALS AND WIRING 3.5 Connection of drive unit and servo motor 3.5.1 Connection instructions CAUTION Connect the wires to the correct phase terminals (U, V, W) of the drive unit and servo motor. Otherwise, the servo motor will operate improperly. Do not connect AC power supply directly to...

3 - 21 3. SIGNALS AND WIRING 3.6 Alarm occurrence timing chart CAUTION 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 restartingoperation. As soon as an alarm occurs, make the Servo off status and interr...

3 - 22 3. SIGNALS AND WIRING 3.7 Servo motor with electromagnetic brake CAUTION Configure the electromagnetic brake operation circuit so that it is activated not only by the interface unit signals but also by an external forced stop (EM1). EM1 RA 24VDC Contacts must be open whenservo-off, when an al...

3 - 23 3. SIGNALS AND WIRING (3) Electromagnetic brake interlock signal There are the following electromagnetic brake interlock signals. The MR-J2M-D01 is required to useMBR1 to MBR8. Load the MR-J2M-D01 to the option slot of the base unit. Signal Symbol Connector Pin No. Description Electromagnetic...

3 - 25 3. SIGNALS AND WIRING (c) Alarm occurrence ON OFF (10ms) Servo motor speed Base circuit Invalid(ON) Valid(OFF) No(ON) Yes(OFF) Dynamic brake Dynamic brake Electromagnetic brake operation delay time Electromagnetic brake Trouble (ALM) Electromagnetic brake Electromagneticbrake interlock(MBR MB...

3 - 26 3. SIGNALS AND WIRING 3.8 Grounding WARNING Ground the base unit and servo motor securely.To prevent an electric shock, always connect the protective earth (PE) terminal of the base unit with the protective earth (PE) of the control box. The base unit switches the power transistor on-off to s...

3 - 27 3. SIGNALS AND WIRING 3.9 Instructions for the 3M connector When fabricating an encoder cable or the like, securely connect the shielded external conductor of thecable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath External conductor ...

4 - 1 4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY On the interface unit display (5-digit, seven-segment display), check the status of communication with theservo system controller at power-on, check the axis number, and diagnose a fault at occurrence of analarm. 4.1 Normal indication When powe...

4 - 4 4. OPERATION AND DISPLAY 4.2 Status display mode of interface unit 4.2.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the interface unit for status display,parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm externalsequen...

4 - 5 4. OPERATION AND DISPLAY 4.2.2 Status display of interface unit MELSERVO-J2M status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol a...

4 - 7 4. OPERATION AND DISPLAY 4.2.4 Alarm mode of interface unit The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on thedisplay indicate the alarm number that has occurred or the parameter number in error. Display examplesare shown below. Name Display Desc...

4 - 8 4. OPERATION AND DISPLAY 4.2.5 Interface unit parameter mode The parameters whose abbreviations are marked* are made valid by changing the setting and thenswitching power off once and switching it on again. Refer to Section 5.2.2. The following example shows the operation procedure performed a...

5 - 13 5. PARAMETERS Class No. Symbol Name and function Initialvalue Unit Setting range 60 *OPC Optional function C Use to select the encoder output pulse direction. 0 Encoder pulse output phase changing Changes the phases of A, B-phase encoder pulses output . Servo motor rotation direction Set valu...

5 - 17 5. PARAMETERS Classifi- cation No. Symbol Name and Function Initial Value Unit Setting Range 3 *MD1 Analog monitor 1 output Choose the signal to be output to analog monitor 1. 0 0 Analog monitor 1 selection0: Servo motor speed ( 4V/max. Servo motor speed)1: Torque ( 4V/max. Torque)2: Servo mo...

5 - 21 5. PARAMETERS 5.2.3 Analog monitor The servo status can be output to 3 channels in terms of voltage. Using an ammeter enables monitoringthe servo status. (1) Setting Change the following digits of IFU parameter No.3 to 5: IFU parameter No. 3 Analog monitor 1 selection(Signal output to across ...

5 - 24 5. PARAMETERS 5.2.4 Test operation mode CAUTION The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Alwaysuse the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to...

6 - 1 6. GENERAL GAIN ADJUSTMENT 6. GENERAL GAIN ADJUSTMENT 6.1 Different adjustment methods 6.1.1 Adjustment on a MELSERVO-J2M The gain adjustment in this section can be made on MELSERVO-J2M. For gain adjustment, first executeauto tuning mode 1. If you are not satisfied with the results, execute au...

6 - 5 6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Servomotor Command Automatic setting Control gains PG1,VG1 PG2,VG2,VIC Current control Current feedback Load inertia moment Encoder Position/speed feedback Real-time auto tuni...

6 - 6 6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motorautomatically sets the optimum gains that match the machine. Merely changing the response levelsetting value as required complete...

6 - 7 6. GENERAL GAIN ADJUSTMENT 6.2.4 Response level setting in auto tuning mode Set the response (DRU parameter No.9) of the whole servo system. As the response level setting isincreased, the trackability and settling time for a command decreases, but a too high response level willgenerate vibrati...

6 - 8 6. GENERAL GAIN ADJUSTMENT 6.3 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 DRU parameters. 6.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain ...

6 - 9 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed control gain 2 (DRU parameter No. 16) This parameter determines the response level of the speed control loop. Increasing this valueenhances response but a too high value will make the mechanical system liable to vibrate. Theactual ...

6 - 11 6. GENERAL GAIN ADJUSTMENT 6.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing theinterpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, theposition control gain 1 and speed cont...

7 - 1 7. SPECIAL ADJUSTMENT FUNCTIONS 7. 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 adjustmentin the methods in Chapter 6. If a mechanical system has a natural resonance lev...

7 - 3 7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Adaptive vibration suppression control (1) Function Adaptive vibration suppression control is a function in which the drive unit detects machine resonanceand sets the filter characteristics automatically to suppress mechanical system vibration. Since thefilt...

7 - 5 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 7.5.1 Applications This function is used when: (1) You want to incre...

7 - 8 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting DRU Parameter No. Abbreviation Name Setting Unit 13 PG1 Position control gain 1 100 rad/s 14 VG1 Speed control g...

7 - 9 7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting DRU Parameter No. Abbreviation Name Setting Unit 13 PG1 Position control gain 1 100 rad/s 14 VG1 Speed control gain 1 1000 rad/s 12 GD2 Ratio of load inertia moment toservo motor inertia moment 40 0.1 time...

9 - 3 9. TROUBLESHOOTING 9.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase (A.25) occurred, always make home position setting again. Otherwise, misop...

10 - 2 10 OUTLINE DRAWINGS 10.2 Unit outline drawings 10.2.1 Base unit (MR-J2M-BU ) L 3 A B C N P 3 C N P 1 B C N P 1 A B CNP3 L 21 N A P C 123 3 L 2 2 L 1 1 L 11 [Unit: mm]([Unit: in]) Base Unit MR-J2M-BU4 230 (9.06) Variable Dimensions Mass[kg]([lb]) 1.1 (2.43) A B 218 (8.58) MR-J2M-BU6 290 (11.42...

10 - 5 10 OUTLINE DRAWINGS 10.3 Connector (1) CN1A CN1B CN2 CN3 connector <3M> (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 [Unit: mm] ([Unit: in]) Logo, etc. areindicated here. 22.0 (0.87) 3 9.0 (1.54) 2 3 .8 (0 .9 8 ) 33.3 (1.31) 14.0 (0.55) 12.7 (0.50) 12.0 (0...

10 - 9 10 OUTLINE DRAWINGS (5) CNP1 CNP2 CNP3 connector 11.6 3.5 (0.138) 3 9 .6 ( 0. 37 8) 2.7 (0.106) A B 4.2 4 .2 (0 .1 65 ) 2. 5 ( 0 .0 98 ) 8. 5 6. 3 3. 3 (0 .1 3) 10 .7 1 9. 6 1 2 3 4 5 6 7 9 10 0.6 (0.024) 0. 6 (0 .0 24 ) R0.3 1.2 5.4 (0.213) 1 2 3 4 Model Variable Dimensions A 9.6 (0.378) 555...

10 - 10 10 OUTLINE DRAWINGS (6) Bus cable connector Honda Tsushin Industry HDR type Model HDR Number of Pins Connector Connector case (Note) Crimping terminal 14 HDR-E14MG1 HDR-E14LPA5 26 HDR-E26MG1 HDR-E26LPA5 Wire straightening tool : FHAT-0029 Insulation displacement tool : FHPT-0004C Note. Not a...

11 - 1 11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristics An electronic thermal relay is built in the drive unit to protect the servo motor and drive unit fromoverloads.Overload 1 alarm (A.50) occurs if overload operation performed is above the electronic thermal relayp...

11 - 3 11. CHARACTERISTICS (2) Heat dissipation area for enclosed drive unit The enclosed control box (hereafter called the control box) which will contain the drive unit should bedesigned to ensure that its temperature rise is within 10 at the ambient temperature of 40 .(With a 5 (41 ) safety margi...

11 - 4 11. CHARACTERISTICS 11.3 Dynamic brake characteristics Fig. 11.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic brake timeconstant varies with the servo motor ...

11 - 6 11. CHARACTERISTICS 11.4 Encoder cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteedvalues, provide a little allowance for these values. 1 10 7 5 10 7 1 10 8 5 10 6 1 10 6 5 10 5 1 10 5 5 10 4 1 10 4 5 10 3 1 10 3 a b F...

12 - 1 12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 15 minutes after power-off, then confirm the voltage with atester or the like. Otherwise, you may get an electri...

12 - 2 12. OPTIONS AND AUXILIARY EQUIPMENT Calculate the total of the 3000r/min-equivalent inertia moments of the axes to be deceleratedsimultaneously, and find the maximum total of 3000r/min-equivalent inertia moments.Also find the sum total of permissible load inertia moments of the drive units in...

12 - 3 12. OPTIONS AND AUXILIARY EQUIPMENT (b) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications orwhen it is desired to make an in-depth selection of the regenerative brake option: 1) Regenerative energy...

12 - 5 12. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection of the regenerative brake option POINT When using the MR-RB54, cooling by a fan is required. Please obtain a cooling fan at your discretion. Set DRU parameter No.2 according to the option to be used. The regenerative brake option will causea ...

12 - 11 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable CAUTION If you have fabricated the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant.Refer to Section 11.4 for the flexing life of the encoder cable.When the ...

12 - 16 12. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable CAUTION When fabricating the bus cable, do not make incorrect connection. Doing so can cause misoperation or explosion. When fabricating this cable, use the recommended cable given in Section 12.2.1 and fabricate it inaccordance with the conn...

12 - 25 12. OPTIONS AND AUXILIARY EQUIPMENT 12.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C-UL(CSA) Standard, use the products which conform to the corresponding standard. 12.2.1 Recommended wires (1) Wires for power sup...

12 - 26 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 12.2 Wires for option cables Characteristics of one core Type Model Length [m(ft)] Core size [mm 2 ] Number of Cores Structure [Wires/mm] C...

12 - 28 12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for digital input signals (interface DI-1) To prevent defective contacts , use a relay for small signal(twin contacts).(Ex.) Omron : type G2A , MY...

12 - 29 12. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause MELSERVO-J2M to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near MELSERVO-J2M and MELSERVO-J2M m...

12 - 31 12. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagneticbrake or the like near MELSERVO-J2M is shown below. Use this product or equivalent. Surge suppressor MC Surge suppressor Relay Surge suppress...

12 - 32 12. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing Earth plate Clamp section diagram (Note)M4 screw 1 1( 0 .4 3) 3 (0 .1 2) 6 ( 0 .2 4) C A 6 22(0.87) 17.5(0.69) 35(1.38) 35 ( 1. 3 8) L or less 10(0.39) 30 (1 .1 8 ) 7 (0 .2 8 ) 2 4 0 0. 2 Note. Screw hole for grounding. Connect it to the ea...

13 - 2 13. ABSOLUTE POSITION DETECTION SYSTEM 13.2 Specifications (1) Specification list POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions o...

13 - 3 13. ABSOLUTE POSITION DETECTION SYSTEM 13.3 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (servo configuration software).Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data displ...

App - 1 APPENDIX App 1. Status indication block diagram PW M M lo w hi gh CMX CDV In st an tan eous ly oc cur ri ng t o rque Ef fe ct iv e lo ad to rque Pe ak l oa d fa ct or E ffe ct iv e v alu e ca lc ul atio n Pe ak ho ld Comma nd pulse fr equ ency Cumul a tive co m m an d pu lses PP , NP D ro op...

REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Apr., 2001 SH(NA)030012-A First edition Jan., 2002 SH(NA)030012-B Addition of FOR MAXIMUM SAFETY CONFORMANCE WITH UL/C-UL STANDARD: Capacitor discharge time changed to 1[min] Addition of (6...

HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030012-G (0510) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODELCODE