Mitsubishi Electric MR-J3-B - Manual

Page 2 - Safety Instructions; (Always read these instructions before using the equipment.); WARNING; : Indicates what must be done. For example, grounding is indicated by

A - 1 Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the converter unit, servo amplifier (drive unit) and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruc...

Page 3 - To prevent electric shock, note the following; amplifier (drive unit) is charged and you may get an electric shock.; of; CAUTION

A - 2 1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L and L for drive unit 30k...

Page 4 - Additional instructions; walls or other equipment.

A - 3 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 numb...

Page 5 - motor during operation.; motor. Otherwise, the servo motor does not operate properly.

A - 4 CAUTION Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the converter unit, servo amplifier (drive unit), and servo motor. Do not drop or strike converter unit, servo amplifier (drive unit), or servo motor. Isolate from ...

Page 6 - unexpected operation.; for ordinary braking.

A - 5 (3) Test run adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be insatiable. (4) Usage CAUTION Provide an external emergency stop ...

Page 7 - RA; restarting operation.; Please consult our sales representative.

A - 6 (5) Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with an electromagnetic brake or an external brake mechanism for the purpose of prevention. Configure the electromagnetic brake ...

Page 8 - About processing of waste; FOR MAXIMUM SAFETY

A - 7 About processing of waste When you discard converter unit and servo amplifier (drive unit), 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 indus...

Page 9 - COMPLIANCE WITH EC DIRECTIVES; to

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...

Page 11 - Type B: Both AC and DC detectable

A - 10 (b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the cables to the terminals one-to-one. PE terminals PE terminals (c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals of the converter unit an...

Page 14 - Relevant manuals; Manual name

A - 13 <<About the manuals>> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual (Vol.2) are required if you use the General-Purpose AC servo MR-J3-B for the first time. Always purchase them and use the MR-J3-B safely. Relevant manuals Manual name Manual No. MELSERVO-...

Page 15 - MEMO

Page 17 - GENERAL GAIN ADJUSTMENT

2 3.13 Control axis selection ............................................................................................................................ 3 -52 4. STARTUP 4 - 1 to 4 -10 4.1 Switching power on for the first time ..........................................................................

Page 19 - ABSOLUTE POSITION DETECTION SYSTEM

4 11.3.4 Outline dimension drawings.......................................................................................................... 11-43 11.4 Power regeneration converter ............................................................................................................. 11-45 11...

Page 20 - APPENDIX

5 13.4.1 Display flowchart ........................................................................................................................... 13-49 13.4.2 Status display mode .......................................................................................................................

Page 22 - FUNCTIONS AND CONFIGURATION

1 - 1 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The Mitsubishi MELSERVO-J3 series general-purpose AC servo has further higher performance and higher functions compared to the current MELSERVO-J2-Super series. The MR-J3-B servo amplifier connects to servo system c...

Page 23 - Function block diagram; and leave L

1 - 2 1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J3-350B or less MR-J3-200B4 or less Base amplifier CN4 N( ) D C Encoder Current detection CN5 NFB MC L 1 L 2 L 3 L 11 L 21 B2 U V W B1 USB USB Power factor improving DC rea...

Page 24 - Note. Refer to section 1.3 for the power supply specification.

1 - 3 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-350B4 MR-J3-500B(4) MR-J3-700B(4) Base amplifier CN4 N C Encoder Current detection CN5 NFB MC L 1 L 2 L 3 L 11 L 21 B2 U V W B1 USB USB Power factor improving DC reactor Regenerative option MR-J3BAT P 1 P 2 D/A Position command input (Note) Power supply...

Page 26 - ower s

1 - 5 1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications (1) 200V class, 100V class Servo amplifier MR-J3- Item 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1 Voltage/frequency 3-phase or 1-phase 200 to 230VAC, 50/60Hz 3-phase 200 to 230VAC, 50/60H...

Page 29 - AC SERVO; Applicable power supply

1 - 8 1. FUNCTIONS AND CONFIGURATION 1.5 Model code definition (1) Rating plate MR-J3-10B AC SERVO POWER : INPUT : OUTPUT: SERIAL : 100W 0.9A 3PH+1PH200-230V 50Hz 1.3A 1PH 200-230V 50/60Hz 170V 0-360Hz 1.1A 3PH+1PH200-230V 60Hz A34230001 ModelCapacity Applicable power supply Serial number Rated outp...

Page 30 - MR J3 B

1 - 9 1. FUNCTIONS AND CONFIGURATION (2) Model Power supply MR J3 B Series Symbol Description -PX Indicates a servo amplifier of 11k to 22kW that does not use a regenerative resistor as standard accessory. With no regenerative resistor Symbol Power supply 3-phase or 1-phase 200 to 230VAC 1-phase 100...

Page 32 - Used to set the axis No. of servo amplifier.

1 - 11 1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J3-100B or less 7 9 6 8 5 4 3 2 1 0 F E D C B A ON 4F 1 2 SW1 SW2 Fixed part(2 places) Used to set the axis No. of servo amplifier. Rotary axis setting switch (SW1) SW2 Test operation select switch (SW2-1) Used to ...

Page 36 - POINT

1 - 15 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-350B4 MR-J3-500B(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. 7 9 6 8 5 4 3 2 1 0 F E D C B A 1 2 ON 4F SW1 SW2 TEST Used to set the axis No. of servo amplifier. Rotary axis sett...

Page 39 - Pull out the front cover to remove.

1 - 18 1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover WARNING Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a vol...

Page 40 - Setting tab; Push the setting tabs until they click.

1 - 19 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab A) A) Insert the front cover setting tabs into the sockets of servo amplifier (2 places). Pull up the cover, supporting at point A). Setting tab Push the setting tabs until they click.

Page 41 - Installation hook

1 - 20 1. FUNCTIONS AND CONFIGURATION (2) For MR-J3-11KB(4) to MR-J3-22KB(4) Removal of the front cover A) B) C) 1) Press the removing knob on the lower side of the front cover ( A) and B) ) and release the installation hook. 2) Press the removing knob of C) and release the external hook. 3) Pull it...

Page 42 - and P

1 - 21 1. FUNCTIONS AND CONFIGURATION 1.8 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products. (1) MR-J3-100B or less (a) For 3-phase or 1-phase 200V to 230VAC W CN5 P C L 11 L 21 P 1 P 2 U V Servo amplifier ...

Page 43 - U V; Regenerative option; Servo amplifier

1 - 22 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC (Note 2) W U V CN5 P C CN3 CN1A CN1B CN2 CN4 L 11 L 21 L 1 L 2 (Note 3) Power supply R S Power factor improving(FR-BAL) Regenerative option Servo amplifier (Note 1)BatteryMR-J3BAT Line noise filter(FR-BSF01) Magneticcontactor(MC) N...

Page 50 - combustibles will lead to a fire.

2 - 1 2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire. Install the equipment in a load-bearing place in accordance with ...

Page 52 - (b) Installation of two or more servo amplifiers; Control box; a cooling fan installed on the ceiling.

2 - 3 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 cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditi...

Page 53 - stamped by workers or vehicles.; SSCNET cable; Optical code; : Phthalate ester plasticizer such as DBP and DOP

2 - 4 2. INSTALLATION (3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles. (4) For installation on a machine where the servo motor will move, the flexing radius should be made as large as possible. Refer to section...

Page 56 - SIGNALS AND WIRING

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 wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe wit...

Page 57 - and L

3 - 2 3. SIGNALS AND WIRING 3.1 Input power supply circuit CAUTION Always connect a magnetic contactor (MC) between the main circuit power supply and L 1 , L 2 , and L 3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s pow...

Page 58 - Note 1. Always connect P

3 - 3 3. SIGNALS AND WIRING Note 1. Always connect P 1 and P 2 . (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. Always connect P( ) and D. (Factory-wired.) When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the o...

Page 68 - to switch off the magnetic contactor as soon as an alarm occurs.; power shut off immediately.

3 - 13 3. SIGNALS AND WIRING 3.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply (three-phase: L 1 , L 2 , L 3 , single-phase: L 1 , L 2 ). Configure up an external sequence to sw...

Page 69 - Cable size

3 - 14 3. SIGNALS AND WIRING 3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to table 11.1 in section 11.11 for the wire sizes used for wiring. MR-J3-500B or more MR-J3-350B4 or more does not have these connectors. Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 an...

Page 70 - (a) Servo amplifier power supply connectors

3 - 15 3. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L 11 L 21 ): 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. L 21 L 11 L 21 L 11 Power supply or Front axis Rear axis CNP2 Twin type c...

Page 73 - (a) When using the supplied cable connection lever

3 - 18 3. SIGNALS AND WIRING (a) When using the supplied cable connection lever 1) The servo amplifier is packed with the cable connection lever. a) 54932-0000 (Molex) [Unit: mm] M X J5 4 9 3 2 7. 7 4. 7 A pprox. 3 4. 9 10 20.6 3. 4 6. 5 Approx. 4.9 A pprox. 7. 7 Approx.3.4 b) 231-131 (WAGO) [Unit: ...

Page 74 - ) Cable connection procedure; Cable connection lever

3 - 19 3. SIGNALS AND WIRING 2) Cable connection procedure 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. 4) Release the cable conn...

Page 75 - (b) Inserting the cable into the connector; ) Insert the screwdriver into the square hole.

3 - 20 3. 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] 3 0. 6 Approx. R0.3 Approx. 22 3 to 3 .5 Approx. R0.3 2) When using the flat-blade screwdriver - part 1 1) Insert t...

Page 76 - ) Releasing the screwdriver connects the cable.

3 - 21 3. SIGNALS AND WIRING 3) When using the flat-blade screwdriver - part 2 1) Insert the screwdriver into the square window at top of the connector. 2) Push the screwdriver in the direction of arrow. 3) With the screwdriver pushed, insert the cable in the direction of arrow. (Insert the cable as...

Page 86 - A maximum of 2.6V voltage drop occurs in the servo amplifier.

3 - 31 3. SIGNALS AND WIRING 3.7.3 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 EM1, etc. ...

Page 87 - Treatment of cable shield external conductor

3 - 32 3. SIGNALS AND WIRING 3.8 Treatment of cable shield external conductor In the case of the CN2 and CN3 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath External co...

Page 89 - of servo amplifier until you hear the click.; Click

3 - 34 3. SIGNALS AND WIRING 3) With holding a tab of SSCNET cable connector, make sure to insert it into CN1A CN1B connector of servo amplifier until you hear the click. If the end face of optical code tip is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes di...

Page 90 - malfunction or faulty may occur.; and servo motor. Not doing so may cause unexpected operation.; Servo motor

3 - 35 3. SIGNALS AND WIRING 3.10 Connection of servo amplifier and servo motor CAUTION During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. 3.10.1 Connection instructions WARNING Insulate the connections of the power supply terminals to prevent a...

Page 95 - Refer to section 11.11 for the cables used for wiring.

3 - 40 3. SIGNALS AND WIRING (3) HA-LP series servo motor (a) Wiring diagrams Refer to section 11.11 for the cables used for wiring. 1) 200V class Servo motor (Note 1) Servo amplifier U V W B1B2 U V W 24VDC power supply for electromagnetic brake 50m or less Forced stop (EM1) Trouble (ALM) RA1 24VDC ...

Page 97 - Terminal box

3 - 42 3. SIGNALS AND WIRING (b) Servo motor terminals Terminal box Encoder connectorCM10-R10P Brake connectorMS3102A10SL-4P Terminal No. Signal Terminal No. Signal 1 MR B1 2 MRR 1 (Note) 3 B2 4 BAT 2 (Note) 5 LG 6 7 8 P5 9 10 SHD Encoder connector signal allotment CM10-R10P 5 6 1 4 3 2 8 7 9 10 Bra...

Page 98 - Terminal block signal arrangement; BV

3 - 43 3. SIGNALS AND WIRING Terminal box inside (HA-LP801(4) 12K1(4) 11K1M(4) 15K1M(4) 15K2(4) 22K2(4)) Thermal sensorterminal block (OHS1 OHS2)M4 screw Cooling fan terminalblock(BU BV BW)M4 screw Encoder connector CM10-R10P Motor power supplyterminal block (U V W) M8 screw Earth terminal( )M6 scre...

Page 99 - Encoder connector

3 - 44 3. SIGNALS AND WIRING Terminal box inside (HA-LP25K1) OHS2 OHS1 BW BV BU W V U Encoder connector CM10-R10P Thermal sensor terminalblock Cooling fan terminal block (OHS1 OHS2) M4 screw (BU BV BW) M4 screw Motor power supplyterminal block(U V W) M10 screw Earth terminal( )M6 screw Terminal bloc...

Page 102 - OFF: Electromagnetic brake is activated.

3 - 47 3. SIGNALS AND WIRING 3.11.2 Timing charts (1) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on 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. There...

Page 104 - Note 1. Changes with the operating status.

3 - 49 3. SIGNALS AND WIRING (5) Only main circuit power supply off (control circuit power supply remains on) Servo motor speed Base circuit Electromagnetic brake interlock(MBR) Alarm Main circuit powersupply Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Electromagnetic bra...

Page 106 - Ground the servo amplifier and servo motor securely.; NFB; Note. For 1-phase 200V to 230VAC, connect the power supply to L

3 - 51 3. SIGNALS AND WIRING 3.12 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier sw...

Page 107 - Down

3 - 52 3. SIGNALS AND WIRING 3.13 Control axis selection POINT The control axis number set to rotary axis setting switch (SW 1) should be the same as the one set to the servo system controller. Use the rotary axis setting switch (SW1) to set the control axis number for the servo. If the same numbers...

Page 110 - Note. Always disconnect P; (c) The connector part of the servo motor should not be strained.

4 - 3 4. STARTUP 2) When regenerative option is used over 5kW for 200V class and 3.5kW for 400V class The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. The generative brake option should be connected to P terminal and C t...

Page 111 - Switch the servo-on in the following procedure.

4 - 4 4. STARTUP 4.2 Start up Connect the servo motor with a machine after confirming that the servo motor operates properly alone. (1) Power on When the main and control circuit power supplies are switched on, "b01" (for the first axis) appears on the servo amplifier display. In the absolut...

Page 116 - ) Perform operation with the personal computer.

4 - 9 4. STARTUP 2) Operation method Operation Screen control Forward rotation start Click the "Forward" button. Reverse rotation start Click the "Reverse" button. Pause Click the "Pause" button. (c) Program operation Positioning operation can be performed in two or more oper...

Page 117 - Load item; ) Switch off servo amplifier; DOWN; The display shows the following screen.; Decimal point flickers.

4 - 10 4. STARTUP 4.5.2 Motorless operation in controller POINT Use motor-less operation which is available by making the servo system controller parameter setting. Motorless operation is done while connected with the servo system controller. (1) Motorless operation Without connecting the servo moto...

Page 118 - Parameter group

5 - 1 5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. POINT When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, ...

Page 123 - Select the gain adjustment mode.; Gain adjustment mode setting

5 - 6 5. PARAMETERS 5.1.6 Auto tuning Parameter No. Symbol Name Initial value Unit Setting range PA08 ATU Auto tuning mode 0001h Refer to the text. PA09 RSP Auto tuning response 12 1 to 32 Make gain adjustment using auto tuning. Refer to section 6.2 for details. (1) Auto tuning mode (parameter No.PA...

Page 146 - Different adjustment methods

6 - 1 6. GENERAL GAIN ADJUSTMENT 6. GENERAL GAIN ADJUSTMENT 6.1 Different adjustment methods 6.1.1 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 ...

Page 149 - The block diagram of real-time auto tuning is shown below.

6 - 4 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 Loop gains PG1,VG1 PG2,VG2,VIC Current control Current feedback Load inertia moment Encoder Position/speed feedback Real-time auto tuning ...

Page 151 - Machine characteristic

6 - 6 6. GENERAL GAIN ADJUSTMENT 6.2.4 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 ...

Page 154 - The following parameters are used for gain adjustment.

6 - 9 6. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment. Parameter No. Abbreviation Name PB06 GD2 Ratio of load inertia moment to servo motor inertia moment PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop...

Page 156 - The following parameters are adjustable manually.; Model loop gain setting

6 - 11 6. GENERAL GAIN ADJUSTMENT 6.4 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, manually set the model loop gain that deter...

Page 157 - Parameter No.9 setting

6 - 12 6. GENERAL GAIN ADJUSTMENT 6.5 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 MELSERVO-J2S-Super series. The following table lists comparison of the response...

Page 158 - SPECIAL ADJUSTMENT FUNCTIONS; Adaptive filter

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 adjustment in the methods in chapter 7. If a mechanical system has a natural resonance po...

Page 159 - Filter tuning mode selection

7 - 2 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No.PB01). Filter tuning mode selection 0 0 0 Parameter No.PB01 Setting Filter adjustment mode Automatically set parameter 0 Filter OFF (Note) 1 Filter tuning mode Parameter No.PB13 Parameter No.PB14...

Page 163 - Po

7 - 6 7. SPECIAL ADJUSTMENT FUNCTIONS 7.4 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 doe...

Page 165 - equipment; Gain characteristic

7 - 8 7. 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 cont...

Page 166 - vibration frequency

7 - 9 7. 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 extern...

Page 167 - Low-pass filter selection; Gain changing function

7 - 10 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Low-pass filter (1) Function When a ball screw 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. The filte...

Page 171 - OFF

7 - 14 7. SPECIAL ADJUSTMENT FUNCTIONS 7.6.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by input device (a) Setting Parameter No. Abbreviation Name Setting Unit PB07 PG1 Model loop gain 100 rad/s PB06 GD2 Ratio of load inertia mo...

Page 172 - Change of each gain

7 - 15 7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit PB07 PG1 Model loop gain 100 rad/s PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 4.0 Multiplier ( 1) PB08 PG2 Position loop gain 120 rad/...

Page 174 - Warni

8 - 1 8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power. If an alarm/warning has occurred, refer to this chapter and remove its cause. 8.1 Alarms and warning list When a fault occurs during operation, the correspond...

Page 175 - again. Not doing so may cause unexpected operation.; Checking method

8 - 2 8. TROUBLESHOOTING 8.2 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 (25) occurred, always make home position setting again. Not doing so may c...

Page 181 - setting again. Not doing so may cause unexpected operation.

8 - 8 8. TROUBLESHOOTING Display Name Definition Cause Action (Note) 888 Watchdog CPU, parts faulty Fault of parts in servo amplifier Checking method Alarm (888) occurs if power is switched on after disconnection of all cables but the control circuitpower supply cable. Change the servo amplifier. No...

Page 182 - Cause, checking method

8 - 9 8. TROUBLESHOOTING Display Name Definition Cause Action E1 Overload warning 1 There is a possibility that overload alarm 1 or 2 may occur. Load increased to 85% or more of overload alarm 1 or 2 occurrence level. Cause, checking method Refer to 50,51. Refer to 50, 51. E3 Absolute position count...

Page 184 - PE terminal; Mounting hole process drawing

9 - 1 9. OUTLINE DRAWINGS 9. OUTLINE DRAWINGS 9.1 Servo amplifier (1) MR-J3-10B MR-J3-20B MR-J3-10B1 MR-J3-20B1 [Unit: mm] 135 168 161 15 6 6 6 4 6 6 40 Approx.80 CNP1 CNP3 CNP2 Ap pr o x. 14 Approx.25.5 Approx.68 With MR-J3BAT (Note) (Note) 6 mounting hole Note. This data applies to the 3-phase or ...

Page 187 - mounting hole

9 - 4 9. OUTLINE DRAWINGS (4) MR-J3-60B4 MR-J3-100B4 [Unit: mm] With MR-J3BAT 6 12 42 Approx. 25.5 CNP2 CNP3 CNP1 6mounting hole 60 12 195 Approx. 80 6 Approx. 68 Mass: 1.7 [kg] (3.75 [lb]) L 1 L 2 L 3 N P 2 P C D L 11 L 21 U V W CNP3 CNP2 CNP1 PE terminal Terminal signal layout P 1 Screw size: M4Ti...

Page 189 - Terminal signal layout

9 - 6 9. OUTLINE DRAWINGS (6) MR-J3-350B [Unit: mm] A ppr ox.1 4 Approx. 25.5 90 16 8 6 78 6 45 6 156 6 6 mounting hole 195 21.4 Approx.80 Cooling fanwind direction Approx.68 6 85 With MR-J3BAT 6 Mass: 2.3 [kg] (5.07 [lb]) U V W CNP3 P C D L 11 L 21 CNP2 L 1 L 2 L 3 N P 1 P 2 CNP1 Terminal signal la...

Page 194 - This is not available as option.; Each type of dimension

9 - 11 9. OUTLINE DRAWINGS (b) Jack screw M2.6 type This is not available as option. [Unit: mm] E B A 23. 8 39. 0 12.7 C D 5. 2 F Logo etc, are indicated here. Each type of dimension Connector Shell kit A B C D E F 10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 27.4 (3) SCR connector system (3...

Page 196 - Overload protection characteristics

10 - 1 10. CHARACTERISTICS 10. CHARACTERISTICS 10.1 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 (50) occurs if overload operation performed is above the electronic ther...

Page 197 - Fig 10.1 Electronic thermal relay protection characteristics

10 - 2 10. CHARACTERISTICS 10000 1000 100 10 1 0 100 200 300 During operation During servo lock O pe ra tio n ti m e [s ] (Note) Load ratio [%] MR-J3-11KB(4) to MR-J3-22KB(4) Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a ser...

Page 198 - (1) Amount of heat generated by the servo amplifier

10 - 3 10. CHARACTERISTICS 10.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 10....

Page 200 - T : Difference between internal and ambient temperatures [ ]; Air flow; Fig. 10.2 Temperature distribution in enclosure

10 - 5 10. 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 at the ambient temperature of 40 . (With a 5 (41 ) ...

Page 201 - Fig. 10.3 Dynamic brake operation diagram; Vo

10 - 6 10. CHARACTERISTICS 10.3 Dynamic brake characteristics 10.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 10.2 to calculate an approximate coasting distance t...

Page 202 - series

10 - 7 10. CHARACTERISTICS Speed [r/min] T im e co ns ta nt [m s] 500 1000 1500 2000 10 20 30 40 50 60 0 0 81 201 121 51 421 301 Speed [r/min] T im e const ant [ m s] 52 500 1000 1500 2000 2500 3000 152 20 40 60 80 100 120 0 0 102 202 502 702 352 HF-SP1000r/min series HF-SP2000r/min series Speed [r/...

Page 206 - OPTIONS AND AUXILIARY EQUIPMENT

11 - 1 11. OPTIONS AND AUXILIARY EQUIPMENT 11. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage...

Page 208 - Model

11 - 3 11. OPTIONS AND AUXILIARY EQUIPMENT 24)25) 26) Servo motorHC-RPHC-UPHC-LP Encoder connector Brake connector Power supply connector 24)25) 26) Terminal box Servo motorHA-LP 38) 30)39)40) From previous page a) From previous page b) No. Product Model Description Application 1) Servo amplifier po...

Page 209 - Power supply connector

11 - 4 11. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model Description Application 2) Servo amplifier power supply connector CNP1 connector: PC4/6-STF-7.62-CRWH (Phoenix Contact) CNP2 connector: 54928-0520 (Molex) CNP3 connector: PC4/3-STF-7.62- CRWH (Phoenix Contact) Supplied with servo amplifier...

Page 213 - (a) Connection of servo amplifier and servo motor; View seen from wiring side.

11 - 8 11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.2 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 mod...

Page 216 - Applicable wiring diagram

11 - 11 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-EKCBL20M-L Servo amplifier side Encoder side P5LG 12 MRMRR 34 3 7 9 SD Plate 12 8 9 P5G MRMRR SHD P5E BAT BAT (Note) MR-EKCBL30M-L Servo amplifier side Encoder side P5LG 12 MRMRR 34 MDR 8 53 7 4 MD 7 9 SD 12 8 9 P5G MRMRR MDR...

Page 218 - Cable model

11 - 13 11. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo motor HF-MP HF-KP MR-J3JCBL03M-A2-L MR-EKCBL M-L/-H 1) Servo amplifier 2) Servo motorHF-MPHF-KP MR-J3JCBL03M-A1-L 1) 2) or CN2 Cable model 1) Junction connector 2) For encoder connector MR-J3JCBL03M-A...

Page 220 - Parts/Tool Description

11 - 15 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram P5LG 12 MRMRR 34 4 8 9 SD 12 5 10 LGMRMRR SHD P5 BAT BAT Servo amplifier side connector Encoder side connector Plate MR-J3ENSCBL10M-L/H MR-J3ENSCBL5M-L/H MR-J3ENSCBL2M-L/H Servo amplifier side connector Encoder side connector Pl...

Page 225 - Protective tube

11 - 20 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawings (a) MR-J3BUS015M [Unit: mm] (13.4) (2.3) (1 .7 ) (37.65) (15) (6.7) (20.9) Protective tube 0 150 50 0 8 (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) of this section for cable length (L). [Unit: mm] (100) (100) L (Note)...

Page 227 - Use the following table to calculate the regenerative energy.; Time; Formulas for calculating torque and energy in operation; Regenerative power

11 - 22 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection of the regenerative option Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. (a) Regenerative energy calculation Use ...

Page 228 - (b) Losses of servo motor and servo amplifier in regenerative mode

11 - 23 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Servo amplifier Inverse efficiency[%] Capacitor charging[J] Servo ...

Page 231 - Mounting method; Accessory screw

11 - 26 11. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J3-350B4 MR-J3-500B(4) MR-J3-700B(4) Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the re...

Page 235 - LA

11 - 30 11. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] LA 5 LB TE1 6 6 15 6 16 8 14 4 12 A pp ro x. 6 A pp ro x. 1 2 Approx. 20 LD 1.6 LC G3 G4 P C 6 mounting hole MR-RB TE1 Terminal block G3G4 P C Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (...

Page 238 - Mounting screw

11 - 33 11. OPTIONS AND AUXILIARY EQUIPMENT (f) MR-RB1H-4 Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (4.43 to 5.31 [lb in]) G3G4 P C Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.32 [lb in]) Regenerative option Mass [kg] ([lb]) MR-RB1H-4 1.1 (2.4) [Unit: mm (in)] TE1 6 ...

Page 244 - brake unit malfunction.

11 - 39 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Combination with MT-BR5-(H) resistor unit NFB 24VDC ALM RA1 MC SK MC ON OFF EM1 Servo motor thermal relay RA2 (Note 1) Power supply N/ P/ BUESD PR B C A SD MSG (Note 3) (Note 6) RA4 3 10 EM1 DOCOM DICOM ALM P 1 P( ) N( ) FR-BU2-(H) MT-BR5-(H) Servo amp...

Page 245 - ) Main circuit terminal; PR; Terminal block

11 - 40 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter). Even when...

Page 246 - ) Control circuit terminal; Sheath; the brake unit

11 - 41 11. OPTIONS AND AUXILIARY EQUIPMENT 2) Control circuit terminal POINT Undertightening can cause a cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due to damage to the screw or the brake unit. A RES PC B SD BUE C MSG SD MSG SD SD Jumper Terminal blo...

Page 248 - Rating

11 - 43 11. OPTIONS AND AUXILIARY EQUIPMENT 11.3.4 Outline dimension drawings (1) FR-BU2- (H) brake unit [Unit: mm] FR-BU2-15K Rating plate 5 hole (Screw size: M4) 68 6 56 6 5 18.5 52 62 4 132.5 FR-BU2-30K FR-BU2-H30K 129.5 5 59 18.5 Rating plate 52 2- 5 hole (Screw size: M4) 5 108 6 6 96 FR-BU2-55K...

Page 249 - NP

11 - 44 11. OPTIONS AND AUXILIARY EQUIPMENT (2) FR-BR- (H) resistor unit [Unit: mm] 2- C Control circuitterminal Main circuitterminal W1 1 Approx. 35 Approx. 35 204 Hanging bolt C C W 5 For FR-BR-55K/FR-BR-H55K, a hanging boltis placed on two locations (Indicated below). (Note) (Note) Note. Ventilat...

Page 250 - Power regeneration

11 - 45 11. OPTIONS AND AUXILIARY EQUIPMENT 11.4 Power regeneration converter When using the power regeneration converter, set " 01" in parameter No.PA02. (1) Selection The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of t...

Page 251 - to P terminal and C terminal.

11 - 46 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example NFB MC Servo amplifier L 11 L 21 L 1 L 2 L 3 SK ON MC B C N P C RDY SE Alarmoutput RDYoutput A B C 5m or less Operation ready MC OFF EMG ALMRA2 FR-RC-(H) Ready Power factor improving reactor FR-BAL-(H) R/L 1 S/L 2 T/L 3 B C R RX R SX...

Page 252 - AA

11 - 47 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm] AA A C F K EE BA B E D 2- D hole Rating plate Front cover Displaypanelwindow Mounting foot (removable) Mounting footmovable Cooling fan Heat generation area outside mounting dimension ...

Page 253 - Voltage class; Capacity; should be equal to or less than the maximum connectable capacity [W].

11 - 48 11. OPTIONS AND AUXILIARY EQUIPMENT 11.5 Power regeneration common converter POINT Use the FR-CV for the servo amplifier of 200V class and the FR-CV-H for that of 400V class. For details of the power regeneration common converter FR-CV-(H), refer to the FR-CV-(H) Installation Guide (IB(NA)06...

Page 254 - The following table lists the restrictions.

11 - 49 11. OPTIONS AND AUXILIARY EQUIPMENT The following table lists the restrictions. FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Maximum number of connected servo amplifiers 6 Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Total of connectable servo motor rated cur...

Page 255 - MC

11 - 50 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection diagram (a) 200V class P 1 DOCOM RA1 EM1 C B R/L 11 3-phase200 to 230VAC S/L 21 T/L 31 R2/L 1 S2/L 22 R2/L 12 T2/L 32 S2/L 2 (Note 3) P24 SD RDYB RDYA RSO SE A T2/L 3 R/L 11 S/L 21 T/MC1 RES SD (Note 1) L 11 L 21 P N U V W (Note 1) EM1 (Note...

Page 257 - (4) Selection example of wires used for wiring

11 - 52 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Selection example of wires used for wiring POINT Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air (a) Wire sizes 1) Across P-P( ), N-N...

Page 258 - Note. These servo amplifiers are development forecasted.

11 - 53 11. 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. 1) 200V class R...

Page 259 - amplifiers should be 5m or less, and the wiring must be twisted.

11 - 54 11. OPTIONS AND AUXILIARY EQUIPMENT (5) Other precautions (a) Always use the FR-CVL-(H) as the power factor improving reactor. Do not use the FR-BAL or FR-BEL. (b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide elect...

Page 262 - Dynamic brake

11 - 57 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example NFB L 11 L 21 U V W U V W M Servo amplifier Servo motor RA2 MC SK MC ON OFF ALM RA1 Operation-ready EM1 L 3 L 2 L 1 (Note 5)Powersupply 13 U 14 V W External dynamic brake a b (Note 1) P P 1 (Note 2) (Note 4) EM1 3 20 SD Plate DICOM 1...

Page 263 - is turned OFF earlier than usual before an output shortage occurs.

11 - 58 11. OPTIONS AND AUXILIARY EQUIPMENT Servo motor rotation Coasting Alarm RA1 ON OFF Forced stop(EM1) Absent Invalid Valid Short Open a. Timing chart at alarm occurrence b. Timing chart at forced stop (EM1) validity Dynamic brake Base ON OFF Coasting Dynamic brake Dynamic brake Present (Note 2...

Page 264 - U V W

11 - 59 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing (a) DBU-11K DBU-15K DBU-22K U V W D 100 D 5 C E G F 2.3 Terminal block Screw : M3.5 Screw : M4 B A 5 E 13 14 E (GND) a b [Unit: mm] Tightening torque: 1.2 [N m](10.6 [lb in]) Tightening torque: 0.8 [N m](7 [lb in]) Dynamic bra...

Page 266 - (1) How to use the junction terminal block; Note. Symbol indicating cable length is put in .

11 - 61 11. OPTIONS AND AUXILIARY EQUIPMENT 11.7 Junction terminal block PS7DW-20V14B-F (recommended) (1) How to use the junction terminal block Always use the junction terminal block (PS7W-20V14B-F(YOSHIDA ELECTRIC INDUSTRY)) with the option cable (MR-J2HBUS M) as a set. A connection example is sho...

Page 267 - MR Configurator

11 - 62 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawings of junction terminal block [Unit : mm] TB.E ( 6) 36 .5 27 .8 18. 8 7.62 44.11 54 63 4.5 4. 5 5 4 60 50 9. 3 27 M3 5L M3 6L 1.42 6.2 11.8 MR Configurator The MR Configurator (MRZJW3-SETUP221E) uses the communication function of the serv...

Page 268 - To USB

11 - 63 11. OPTIONS AND AUXILIARY EQUIPMENT (2) System configuration (a) Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Equipment (Note 1) Description OS IBM PC/AT compatible where the English version of Windows R 98, Window...

Page 269 - MELSERVO; The year and month of manufacture

11 - 64 11. OPTIONS AND AUXILIARY EQUIPMENT 11.9 Battery MR-J3BAT 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 of the lithium and lithi...

Page 271 - a. Assembling the heat sink outside mounting attachment

11 - 66 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Fitting method Fit using theassemblingscrews. Attachment Servoamplifier Attachment Servoamplifier Punchedhole Control box a. Assembling the heat sink outside mounting attachment b. Installation to the control box (4) Outline dimension drawing [Unit: mm...

Page 273 - Wires

11 - 68 11. OPTIONS AND AUXILIARY EQUIPMENT (a) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire size when using IV wires is indicated below. Table 11.1 Wire size selection example 1 (IV wire) Wires [mm 2 ] (Note 1, 4) Servo amplifier 1) L 1 L 2 L 3 2) L 11 L...

Page 275 - (c) Selection example of crimping terminals

11 - 70 11. OPTIONS AND AUXILIARY EQUIPMENT (c) Selection example of crimping terminals Selection example of crimping terminals for the servo amplifier terminal box when using the wires mentioned in (1) (a) and (b) in this section is indicated below. Servo amplifier side crimping terminals Applicabl...

Page 276 - Table 11.3 Wires for option cables; Conductor Insulation sheath

11 - 71 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 11.3 Wires for option cables Characteristics of one core Type Model Length [m] Core size [mm 2 ] Number of Cores Structure [Wires/mm] Condu...

Page 278 - C o

11 - 73 11. OPTIONS AND AUXILIARY EQUIPMENT Rating plate L H B or less E A or less Terminal box - screw size G Mounting leg D F C o r less Servo amplifier P 1 P 2 (Note 2) FR-BEL-(H) 2-F L notch 5m or less Servo amplifier P 1 P 2 (Note 2) FR-BEL-(H) (Note 3) B or less A or less Mounting leg Rating p...

Page 280 - Interface Selection

11 - 75 11. OPTIONS AND AUXILIARY EQUIPMENT Dimensions [mm] Servo amplifier Model W W1 H D D1 C Mounting screw size Terminal screw size Mass [kg (lb)] MR-J3-10B 20B 10B1 FR-BAL-0.4K 135 120 115 59 45 0 -2.5 7.5 M4 M3.5 2.0 (4.41) MR-J3-40B 20B1 FR-BAL-0.75K 135 120 115 69 57 0 -2.5 7.5 M4 M3.5 2.8 (...

Page 281 - or; Noise reduction techniques

11 - 76 11. OPTIONS AND AUXILIARY EQUIPMENT 11.16 Surge absorbers (recommended) A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent. When using the surge absorber, perform insulation beforehand to prevent short-circuit. Maximum rating Permissibl...

Page 283 - Noise transmission route; Lot number

11 - 78 11. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) 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 ampli...

Page 284 - Rated; Maximum voltage: Not less than 4 times the drive voltage of the

11 - 79 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve or the like near the servo amplifier is shown below. Use this product or equivalent. MC Surge suppressor Relay Surge suppressor This distance should be short (w...

Page 285 - Outline drawing; Earth plate

11 - 80 11. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] Earth plate Clamp section diagram (Note)M4 screw 11 3 6 C A 6 22 17.5 35 35 L or less 10 30 7 24 0 0. 2 24 0 .3 0 B 0 .3 2- 5 holeinstallation hole Note. Screw hole for grounding. Connect it to the earth plate of the control box....

Page 286 - Connection diagram; pr; Use the line noise filters for wires of the main power supply (L; bo

11 - 81 11. 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...

Page 289 - Servo motor power

11 - 84 11. OPTIONS AND AUXILIARY EQUIPMENT Table 11.4 Servo motor's leakage current example (Igm) Table 11.5 Servo amplifier's leakage current example (Iga) Servo motor power [kW] Leakage current [mA] Servo amplifier capacity [kW] Leakage current [mA] 0.05 to 1 0.1 0.1 to 0.6 0.1 2 0.2 0.75 to 3.5 ...

Page 294 - Black

11 - 89 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge protector RAV-781BYZ-2 4. 5 0. 5 1 3 2 41 1.0 28. 5 1. 0 28 1. 0 4.2 0.2 20 0 30 0 UL-1015AWG16 5. 5 1 11 1 [Unit: mm] Black 1) 2) 3) Black Black RAV-781BXZ-4 1 3 2 UL-1015AWG16 4.2 0.2 5. 5 1 11 1 28. 5 1. 0 200 30 0 28 1. 0 41 1.0 4. 5 0. 5 [Un...

Page 297 - whether power is kept on or off.

12 - 2 12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Specifications POINT Replace the battery with only the control circuit power ON. Removal of the battery with the control circuit power OFF will erase the absolute position data. (1) Specification list Item Description System Electronic battery backu...

Page 298 - Insert connector into CN4.

12 - 3 12. ABSOLUTE POSITION DETECTION SYSTEM 12.3 Battery installation procedure WARNING Before installing a battery, turn off the main circuit power while keeping the control circuit power on. Wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. ...

Page 303 - The function block diagram of this servo is shown below.

13 - 2 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.1 Function block diagram The function block diagram of this servo is shown below. L L 11 L 21 L 1 L 2 L 3 P 1 P 2 C L 11 L 21 L L L Power supply Control power supply Base amplifier MC CN1 I/F CHARGE lamp Converter NFB Cooling fan C...

Page 309 - MITSUBISHI; MODEL

13 - 8 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.4 Model definition (1) Rating plate Serial number POWER MITSUBISHI AC SERVO MADE IN JAPAN MODEL MR-J3-CR55K MITSUBISHI ELECTRIC CORPORATION AC SERVO PASSED Applicable power supply Capacity Model Rated output current : 55kW : : A5**...

Page 314 - (a) How to remove the terminal block cover

13 - 13 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.7 Removal and reinstallation of the terminal block cover CAUTION Before removing or installing the front cover, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage bet...

Page 316 - When pulled up to the top, the cover is fixed.

13 - 15 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) MR-J3-DU30KB4 or MR-J3-DU37KB4 (a) Upper terminal block cover 1) How to open A) A)' Pull up the cover using the axis A), A)' as a support. When pulled up to the top, the cover is fixed.

Page 322 - Dimensions

13 - 21 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.2.1 Installation direction and clearances CAUTION Install the equipment in the specified direction. Not doing so can cause a failure. Leave the specified clearances between the converter unit/drive unit and the control box inside wa...

Page 326 - unit are 400V class.

13 - 25 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (1) Enabling control function of magnetic contactor (parameter No.PA02 1 (initial value)) Connecting the magnetic contactor control connector (CNP1) to the operating coil of the magnetic contactor enables to control the magnetic contac...

Page 334 - CN40 Connect to CN40A of the; WNG; ALM

13 - 33 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.5 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. (1) Converter unit CN6 Leave this open. CN40 Connect to CN40A of the drive unit. CN3 Leave ...

Page 336 - Magnetic contactor wiring

13 - 35 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.6 Converter unit signal (device) explanations POINT Explanations on the drive unit signals are the same as those for servo amplifiers with 22kW or less. Refer to section 3.5. (1) Signals For the I/O interfaces (symbols in I/O colu...

Page 338 - OFF: Electromagnetic brake is activated

13 - 37 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.7 Timing chart (1) Power circuit timing chart Power-on procedure (a) Always wire the power supply as shown in above section 13.3.2 using the magnetic contactor with the main circuit power supply (3-phase: L 1 , L 2 , L 3 ). Config...

Page 340 - ) When controlling magnetic contactor by external sequence

13 - 39 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 3) When controlling magnetic contactor by external sequence When an alarm occurs, turn OFF the magnetic contactor by the external sequence and shut off the main circuit power supply. (95ms) (3s) (Note 5, 6) Tb (Note 3) 0r/min Coasting ...

Page 341 - (a) When control function of magnetic contactor is enabled

13 - 40 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) 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 restarting operation. As soon as an alarm occurs,...

Page 343 - (b) When controlling magnetic contactor by external sequence

13 - 42 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) When controlling magnetic contactor by external sequence 1) Converter unit When an alarm occurs on the converter unit, the servo-on turns OFF; however, the main circuit power supply is not shut off. Therefore, shut off the main cir...

Page 345 - (a) When control function of magnetic controller is enabled

13 - 44 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (3) Forced stop (EM1) ON/OFF timing chart (a) When control function of magnetic controller is enabled 1) Converter unit When the forced stop (EM1) is made valid in the converter unit, the magnetic contactor is turned off and the main c...

Page 346 - ) When CNP1 is invalid

13 - 45 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 2) When CNP1 is invalid When the forced stop (EM1) is input in the converter unit, the drive unit in operation stops and Main circuit off warning (E9) appears. When the forced stop (EM1) is deactivated in the converter unit, the drive ...

Page 348 - Encoder connector signal arrangement

13 - 47 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.8 Servo motor side details Encoder connector signal arrangement CM10-R10P Terminal No. Signal 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 Terminal box Encoder connector CM10-R10P 5 6 1 4 3 2 8 7 9 10 10 SHD HA-LP30K1M4 HA-LP30K24 HA-LP37K2...

Page 351 - The following table shows the display examples.

13 - 50 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.4.2 Status display mode The servo status during operation is shown on the 3-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the cor...

Page 352 - External I/O signal display screen

13 - 51 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.4.3 Diagnostic mode (1) Diagnostic list Name Display Unit Not ready. Initializing. An alarm occurred. External forced stop status. Bus voltage is not established. Sequence Ready Indicates that the servo was switched on after complet...

Page 353 - Call the display screen shown after power-on.

13 - 52 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) Display definition The 7-segment LED segments and CN1 connector pins correspond as shown below. Lit: ONExtinguished: OFF Input signals Output signals CN1-7: Forced stop (EM1) CN1-8: Warning (WNG) CN-2: Trouble (ALM) The LED segment...

Page 355 - displayed as

13 - 54 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the third digit flickers. (3) To clear any alarm, swi...

Page 367 - PE

13 - 66 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) MR-J3-DU30KB4 MR-J3-DU37KB4 [Unit: mm] 240 Approx. 200 Approx. 200 328 128 180 120 60 6 219.2 TE2 TE3 TE1 For mountingMR-J3BAT Approx. 60 Approx. 80 2- 6 Installation hole Cooling fan wind direction Terminal block layout (Terminal ...

Page 368 - Overload protection characteristics; During rotation; Fig. 13.1 Overload protection characteristics

13 - 67 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.8 Characteristics 13.8.1 Overload protection characteristics An electronic thermal relay is built in the converter unit and drive unit to protect the servo motor, converter unit and drive unit from overloads. Overload 1 alarm (50) o...

Page 370 - Fig 13.2 Dynamic Brake Operation Diagram; : Maximum coasting distance ·········································································································· [mm]

13 - 69 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.8.3 Dynamic brake characteristics (1) Dynamic brake operation (a) Calculation of coasting distance Fig. 13.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.1 to calcula...

Page 375 - Otherwise, the system may perform unexpected operation.

13 - 74 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) MR-J3CDL05M(0.5m) Protection coordination cable CAUTION Connect protection coordination cables correctly if they are fabricated. Otherwise, the system may perform unexpected operation. When fabricating a protection coordination cab...

Page 376 - Converter unit; Drive unit

13 - 75 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.9.2 Regenerative option CAUTION The specified combinations of regenerative options, converter unit and drive unit may only be used. Otherwise, a fire may occur. POINT The calculation method of regenerative energy is the same as that...

Page 377 - Table 13.3 Cooling fan; Item

13 - 76 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (4) Connection of the regenerative option Always supply 1-phase 200V and 400V respectively to the cooling fan. The cooling fan specifications are as follows. Table 13.3 Cooling fan Item 200V class 400V class Model MR-RB137 MR-RB139 MR-...

Page 381 - up the circuit to prevent servo-on in the external sequence.

13 - 80 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) EM1 (Note 3) NFB L 1 L 2 L 3 L 11 L 21 U 1 MC1 2 MC2 CNP1 L 11 L 21 CN3 RA1 RA4 RA1 MC SK (Note 2) RA2 RA3 CN1 1 DICOM 5 DOCOM 6 DICOM 2 ALM 7 EM1 9 DOCOM MC Forced stop (Note 5) L 1 L 2 L 3 L 11 L 21 U V W U V W M Servo motor (Note 4)...

Page 382 - - 10 installation hole

13 - 81 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (3) Outline dimension drawing [Unit:mm] Terminal block TE1 Terminal screw: M5 Tightening torque: 2.0 [N m] (17.7 [lb in]) Mounting screw Screw size: M8 Tightening torque: 13.2 [N m] (117 [lb in]) Terminal screw: M5 Tightening torque: 0...

Page 385 - The input power factor is improved to about 95%.; H or

13 - 84 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.9.5 No-fuse breakers, fuses, magnetic contactors. Always use one no-fuse breakers and one magnetic contactor with one drive unit. No-fuse breaker Fuse Converter unit Drive unit Power factor improving DC reactor is not used Power fac...

Page 395 - ) When connecting a brake unit to a converter unit

13 - 94 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) Combination with MT-BR5-(H) resistor unit 1) When connecting a brake unit to a converter unit NFB Drive unit Converter unit L 1 L 2 L 3 L 11 L 21 (Note 1)Power supply L L L L 1 MC1 2 MC2 CNP1 L 11 L 21 RA1 MC SK (Note 5) RA2 RA3 Dr...

Page 398 - ) Cables for the brake unit

13 - 97 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Note 1. For power supply specifications, refer to section 13.1.3. 2. Configure the circuit to turn OFF the forced stop (EM1) of the drive unit and the converter unit at the same time. 3. Always connect P 1 and P 2 terminals (Factory-wi...

Page 399 - of the brake unit

13 - 98 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) b) Control circuit terminal POINT Under tightening can cause a cable disconnection or malfunction. Over tightening can cause a short circuit or malfunction due to damage to the screw or the brake unit. A RES PC B SD BUE C MSG SD MSG SD...

Page 401 - Resistor

13 - 100 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (4) Outline dimension drawings (a) FR-BU2- (H) brake unit [Unit: mm] FR-BU2-55K FR-BU2-H55K, H75K 18.5 Rating plate 52 72 5 142.5 5 6 158 6 170 2- 5hole (Screw size: M4) (b) FR-BR- (H) resistor unit [Unit: mm] 2- C Control circuitterm...

Page 402 - Resistor unit; Approximate

13 - 101 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (c) MT-BR5- (H) resistor unit [Unit: mm] Resistor unit Resistance value Approximate mass [kg] 200V class MT-BR5-55K 2.0 50 400V class MT-BR5-H75K 6.5 70 4 15 mounting hole 300 75 75 450 7.5 7.5 M6 M4 193 189 480510 37 60 21 10 NP

Page 404 - App. 1 Parameter list

App. - 1 APPENDIX App. 1 Parameter list POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. **: Set the parameter value, switch power...

Page 413 - REVISIONS; *The manual number is given on the bottom left of the back cover.

REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision May, 2005 SH(NA)030051-A First edition Jan., 2006 SH(NA)030051-B Addition of servo amplifier MR-J3-11KB(4), 15KB(4) and 22KB(4) Addition of servo motor HC-RP, HC-UP, HC-LP and HA-LP4 series...

Page 422 - General-Purpose AC Servo; SSCNET Compatible; Series; J3 Series

SH (NA) 030051-D (0806) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODELCODE General-Purpose AC Servo MODEL MR-J3- B SERVO AMPLIFIERINSTRUCTION MANUAL SSCNET Compatible J3 Series D HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO...

Mitsubishi Electric MR-J3-B - Manual

Table of Contents:

Summary

Other Mitsubishi Electric Models