Mitsubishi Melservo-J3 Series MR-J3-B Manuel d'instructions

General-Purpose AC ServoMODELMR-J3- BSERVO AMPLIFIERINSTRUCTION MANUALSSCNET CompatibleJ3 SeriesB

A - 9 (3) Environment Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the s

4 - 7 4. STARTUP 4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refe

4 - 8 4. STARTUP 4.5 Test operation mode CAUTION The test operation mode is designed for servo operation confirmation and not for machine operat

4 - 9 4. STARTUP (c) Program operation Positioning operation can be performed in two or more operation patterns combined, without using the servo

4 - 10 4. STARTUP 4.5.2 Motorless operation in controller POINT Use motor-less operation which is available by making the servo system controll

5 - 1 5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. In the MR-J3-

5 - 2 5. PARAMETERS 5.1.2 Parameter write inhibit Parameter No. Symbol Name Initial Value Unit Setting Range PA19 *BLK Parameter write inhibi

5 - 3 5. PARAMETERS 5.1.3 Selection of regenerative brake option Parameter No. Symbol Name Initial Value Unit Setting Range PA02 **REG Regene

5 - 4 5. PARAMETERS 5.1.5 Forced stop input selection Parameter No. Symbol Name Initial Value Unit Setting Range PA04 *AOP1 Function selectio

5 - 5 5. PARAMETERS 5.1.6 Auto tuning Parameter No. Symbol Name Initial Value Unit Setting Range PA08 ATU Auto tuning mode 0001h Refer to

5 - 6 5. PARAMETERS (2) Auto tuning response (parameter No. PA09) If the machine hunts or generates large gear sound, decrease the set value. To i

A - 10 (7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant product

5 - 7 5. PARAMETERS 5.1.8 Selection of servo motor rotation direction Parameter No. Symbol Name Initial Value Unit Setting Range PA14 *POL R

5 - 8 5. PARAMETERS (1) For output pulse designation Set " 0 " (initial value) in parameter No. PC03. Set the number of pulses per

5 - 9 5. PARAMETERS 5.2 Gain/Filter Parameters (No. PB ) POINT Parameter whose symbol is preceded by * is made valid with the following conditio

5 - 10 5. PARAMETERS No. Symbol Name Initial Value Unit PB42 For manufacturer setting 1125 PB43 0004h PB44 0.0 PB45 0000h 5.2

5 - 11 5. PARAMETERS No. Symbol Name and Function Initial Value Unit Setting Range PB02 VRFT Vibration suppression control tuning mode (advanc

5 - 12 5. PARAMETERS No. Symbol Name and Function Initial Value Unit Setting Range PB06 GD2 Ratio of load inertia moment to servo motor inertia

5 - 13 5. PARAMETERS No. Symbol Name and Function Initial Value Unit Setting Range PB14 NHQ1 Notch shape selection 1 Used to selection the mac

5 - 14 5. PARAMETERS No. Symbol Name and Function Initial Value Unit Setting Range PB18 LPF Low pass filter setting Set the low pass filter. S

5 - 15 5. PARAMETERS No. Symbol Name and Function Initial Value Unit Setting Range PB26 *CDP Gain changing selection Select the gain changing co

5 - 16 5. PARAMETERS No. Symbol Name and Function Initial Value Unit Setting Range PB34 VRF2B Gain changing - vibration suppression control -

A - 11 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with

5 - 17 5. PARAMETERS 5.3 Extension Setting Parameters (No. PC ) POINT Parameter whose symbol is preceded by * is made valid with the following c

5 - 18 5. PARAMETERS 5.3.2 List of details No. Symbol Name and Function Initial Value Unit Setting Range PC01 *ERZ Error excessive alarm level

5 - 19 5. PARAMETERS No. Symbol Name and Function Initial Value Unit Setting Range PC09 MOD1 Analog monitor 1 output Used to selection the signa

5 - 20 5. PARAMETERS No. Symbol Name and Function Initial Value Unit Setting Range PC12 MO2 Analog monitor 2 offset Used to set the offset volt

5 - 21 5. PARAMETERS 5.3.3 Analog monitor The servo status can be output to two channels in terms of voltage. The servo status can be monitored us

5 - 22 5. PARAMETERS Setting Output item Description Setting Output item Description 6 Droop pulses (Note) (10V/100 pulses) 100[pulse]CW direc

5 - 23 5. PARAMETERS (3) Analog monitor block diagram PWM MFeedback positionCurrent controlSpeedcontrolCurrentcommandPosition controlDroop pulseDi

5 - 24 5. PARAMETERS 5.4 I/O Setting Parameters (No. PD ) POINT Parameter whose symbol is preceded by * is made valid with the following conditi

5 - 25 5. PARAMETERS 5.4.2 List of details No. Symbol Name and Function Initial Value Unit Setting Range PD01 0000h PD02 For manufacturer

5 - 26 5. PARAMETERS No. Symbol Name and Function Initial Value Unit Setting Range PD10 0000h PD11 For manufacturer setting Do not change t

A - 12 (5) Options and auxiliary equipment Use UL/C-UL standard-compliant products. This servo amplifier is UL/C-UL-listed when using the fuses in

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

6 - 2 6. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage Usage Used when you want to match the position gain (PG1) between 2 or mo

6 - 3 6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates t

6 - 4 6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. ServomotorCommandAuto

6 - 5 6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simpl

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

6 - 7 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

6 - 8 6. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed loop gain (parameter No. PB09) This parameter determines the response level o

6 - 9 6. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment: Parameter No. Ab

6 - 10 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (VG2: parameter No. PB09) This parameter determines the response l

1 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -24 1.1 Introduction...

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 performi

6 - 12 6. GENERAL GAIN ADJUSTMENT 6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super To meet higher response demands, the ME

7 - 1 7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use th

7 - 2 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No. PB01). Filter tuning mode selection000Pa

7 - 3 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure The response has increased to the machine limit.The machine is too compli

7 - 4 7. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is exe

7 - 5 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No. PB13, PB14) Set the notch frequency

7 - 6 7. SPECIAL ADJUSTMENT FUNCTIONS 7.4 Advanced Vibration Suppression Control (1) Operation Vibration suppression control is used to further su

7 - 7 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure NoEstimation cannot be made as machine end vibration

7 - 8 7. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work end vibration and device shake with the machine a

2 3.10.1 Connection instructions...3 -3

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 vibr

7 - 10 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Low-pass filter (1) Function When a ballscrew or the like is used, resonance of high frequency may occu

7 - 11 7. SPECIAL ADJUSTMENT FUNCTIONS 7.6.2 Function block diagram The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are changed acco

7 - 12 7. SPECIAL ADJUSTMENT FUNCTIONS 7.6.3 Parameters When using the gain changing function, always set " 3" in parameter No. PA0

7 - 13 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. PB06 to PB10 These parameters are the same as in ordinary manual adjustment. Gain changi

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 ch

7 - 15 7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit

7 - 16 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO

8 - 18. TROUBLESHOOTING8. TROUBLESHOOTINGPOINTAs soon as an alarm occurs, make the Servo off status and interrupt the maincircuit power.If an alarm/w

8 - 28. TROUBLESHOOTING8.2 Remedies for alarmsCAUTIONWhen any alarm has occurred, eliminate its cause, ensure safety, then reset thealarm, and restar

3 6. GENERAL GAIN ADJUSTMENT 6 - 1 to 6 -12 6.1 Different adjustment methods...

8 - 38. TROUBLESHOOTINGDisplay Name Definition Cause Action12 Memory error 1(RAM)RAM, memory faultPrinted board faultFaulty parts in the servo amplif

8 - 48. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Wrong setting of parameter No.PA02Set correctly.2. Built-in regenerative brake resistor

8 - 58. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Regenerative brake option is notused.Use the regenerative brake option.2. Though the re

8 - 68. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Servo amplifier faulty. Change the servo amplifier.2. The power supply was turned onand

8 - 78. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Acceleration/deceleration timeconstant is too small.Increase the acceleration/decelerat

8 - 88. TROUBLESHOOTING8.3 Remedies for warningsCAUTIONIf an absolute position counter warning (E3) occurred, always make home positionsetting again.

8 - 98. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Battery cable is open. Repair cable or changed.92 Open batterycable warningAbsolute pos

8 - 108. TROUBLESHOOTINGMEMO

9 - 1 9. OUTLINE DRAWINGS 9. OUTLINE DRAWINGS 9.1 Servo Amplifier (1) MR-J3-10BMR-J3-20B MR-J3-10B1MR-J3-20B1 [Unit: mm] 1351681611566646640Appro

9 - 2 9. OUTLINE DRAWINGS (2) MR-J3-40BMR-J3-60B MR-J3-40B1 [Unit: mm] Approx.25.5651611686170406Approx.80156CNP3CNP1CNP2Approx.14Approx.68CN4 CN

4 11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11 - 74 11.1 Cable/Connector Sets...

9 - 3 9. OUTLINE DRAWINGS (3) MR-J3-70BMR-J3-100B [Unit: mm] 601212615661611681856Approx.80FAN WIND DIRECTIONCNP3CNP1CNP2Approx.14Approx.25.5Appro

9 - 4 9. OUTLINE DRAWINGS (4) MR-J3-200BMR-J3-350B [Unit: mm] Approx.14Approx.25.59016867864561566 6 mounting hole19521.4Approx.80FAN WIND DIRECT

9 - 5 9. OUTLINE DRAWINGS (5) MR-J3-500B [Unit: mm] CHARGEFAN13011867.57.52502356With MR-J3BAT200Approx.80131.5 68.5Fan air orientation6Terminal l

9 - 6 9. OUTLINE DRAWINGS (6) MR-J3-700B [Unit: mm] 17216067.57.53002856With MR-J3BAT200Approx.80138626TE2TE3TE1CHARGEFAN20.5CN3CN1ACN1BCN3CN1ACN1

9 - 7 9. OUTLINE DRAWINGS (7) MR-J3-11KB(4) to 22KB(4) [Unit: mm] TE12236 12260123762602271834001212260Approx.80Fan air orientationWith MR-J3BAT2-

9 - 8 9. OUTLINE DRAWINGS 9.2 Connector (1) For CN1ACN1B connector [Unit: mm] F0-PF2D103 F0-PF2D103-S 2.320.9 0.21.74.813.4156.79.317.6 0.28

9 - 9 9. OUTLINE DRAWINGS (3) For CN3 connector (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 [Unit: mm] BA23.839

9 - 10 9. OUTLINE DRAWINGS MEMO

10 - 1 10. CHARACTERISTICS 10. CHARACTERISTICS 10.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifie

10 - 2 10. CHARACTERISTICS 10001001010.10 50 150 200 250 300100(Note) Load ratio [%]Operation time[s]During operationDuring servo lock a. Electroni

1 - 11. FUNCTIONS AND CONFIGURATION1. FUNCTIONS AND CONFIGURATION1.1 IntroductionThe Mitsubishi MELSERVO-J3 series general-purpose AC servo has furth

10 - 3 10. CHARACTERISTICS 1000010001001010 100 200 300During operationDuring servo lockOperation time [s](Note) Load ratio [%] e. Electronic therm

10 - 4 10. CHARACTERISTICS 10.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 10.1

10 - 5 10. CHARACTERISTICS (Note 2) Servo amplifier-generated heat[W] Area required for heat dissipation Servo amplifier Servo motor (Note 1) Powe

10 - 6 10. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) whic

10 - 7 10. CHARACTERISTICS 10.3 Dynamic brake characteristics Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynami

10 - 8 10. CHARACTERISTICS Speed[r/min] 200 400 600 1200Time constant [ms]10203040506000800 100015K125K112K180120K1601 0Speed[r/min] 20406080

10 - 9 10. CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher

10 - 10 10. CHARACTERISTICS 10.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are no

11 - 111. OPTIONS AND AUXILIARY EQUIPMENT11. OPTIONS AND AUXILIARY EQUIPMENTWARNINGBefore connecting any option or auxiliary equipment, make sure tha

11 - 211. OPTIONS AND AUXILIARY EQUIPMENT11.1.1 Combinations of cable/connector sets36)Direct connection type (cable length 10m or less, IP65)15)16)1

1 - 21. FUNCTIONS AND CONFIGURATION1.2 Function block diagramThe function block diagram of this servo is shown below.(1) MR-J3-350B or lessRegenerati

11 - 311. OPTIONS AND AUXILIARY EQUIPMENT24)25)26)Servo motorHC-RPHC-UPHC-LPEncoder connectorBrake connectorPower supply connector24)25)26)Terminal b

11 - 411. OPTIONS AND AUXILIARY EQUIPMENTNo. Product Model Description Application3) Motor powersupply cableMR-PWS1CBL M-A1-LCable length: 25 10mIP

11 - 511. OPTIONS AND AUXILIARY EQUIPMENTNo Product Model Description Application15) EncodercableMR-J3ENCBL M-A1-LCable length: 25 10mIP65Load side

11 - 611. OPTIONS AND AUXILIARY EQUIPMENTNo. Product Model Description Application28) Power supplyconnector setMR-PWCNS4 Plug: CE05-6A18-10SD-B-BSSCa

11 - 711. OPTIONS AND AUXILIARY EQUIPMENTNo. Product Model Description Application38) Breakconnector setMR-BKCN Plug: MS3106A10SL-4S(D190) (DDK)For c

11 - 811. OPTIONS AND AUXILIARY EQUIPMENT11.1.2 Encoder cable/connector sets(1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/HThese cables are encoder c

11 - 911. OPTIONS AND AUXILIARY EQUIPMENT(b) Cable internal wiring diagramServo amplifier side connectorEncoder side connectorPlateMR-J3ENCBL2M-L/-HM

11 - 1011. OPTIONS AND AUXILIARY EQUIPMENT(a) Connection of servo amplifier and servo motorServo motorHF-MPHF-KP1)MR-EKCBL M-LMR-EKCBL M-HMR-J3JC

11 - 1111. OPTIONS AND AUXILIARY EQUIPMENT(b) Internal wiring diagramMR-EKCBL20M-LServo amplifier side Encoder sideP5LG12MRMRR34379SD Plate1289P5GMRM

11 - 1211. OPTIONS AND AUXILIARY EQUIPMENT(c) When fabricating the encoder cableWhen fabricating the cable, prepare the following parts and tool, and

A - 1 Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspec

1 - 31. FUNCTIONS AND CONFIGURATION(2) MR-J3-500B MR-J3-700BRADSCPNFB MCL1L2L3L11L21B2CN2UVWUVWMB1CN4MR-J3BATP1P2NRegenerative brake optionPowersupp

11 - 1311. OPTIONS AND AUXILIARY EQUIPMENT(a) Connection of servo amplifier and servo motorServo motorHF-MPHF-KPMR-J3JCBL03M-A2-LMR-EKCBL M-L/-H1)

11 - 1411. OPTIONS AND AUXILIARY EQUIPMENT(4) MR-J3ENSCBL M-L MR-J3ENSCBL M-HThese cables are detector cables for HF-SP Series servomotors. The n

11 - 1511. OPTIONS AND AUXILIARY EQUIPMENT(b) Internal wiring diagramP5LG12MRMRR34489SD12510LGMRMRRSHDP5BATBATServo amplifier side connectorEncoder s

11 - 1611. OPTIONS AND AUXILIARY EQUIPMENT(5) MR-J3BTCBL03MThis cable is a battery connection cable. Use this cable to retain the current position ev

11 - 1711. OPTIONS AND AUXILIARY EQUIPMENT11.1.3 Motor power supply cablesThese cables are motor power supply cables for the HF-MPHF-KP series servo

11 - 1811. OPTIONS AND AUXILIARY EQUIPMENT11.1.4 Motor brake cablesThese cables are motor brake cables for the HF-MPHF-KP series servo motors. The nu

11 - 1911. OPTIONS AND AUXILIARY EQUIPMENT11.1.5 SSCNET cablePOINTDo not see directly the light generated from CN1A CN1B connector of servoamplifier

11 - 2011. 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 015050

11 - 2111. OPTIONS AND AUXILIARY EQUIPMENT11.2 Regenerative brake optionsCAUTIONThe specified combinations of regenerative brake options and servo am

11 - 2211. OPTIONS AND AUXILIARY EQUIPMENTFormulas for calculating torque and energy in operationRegenerative power Torque applied to servo motor [N

1 - 41. FUNCTIONS AND CONFIGURATION(3) MR-J3-11KB(4) to 22KB(4)CN5Model position controlModel speed controlModelpositionActual positioncontrolModel s

11 - 2311. OPTIONS AND AUXILIARY EQUIPMENT(3) Connection of the regenerative brake optionSet parameter No. PA02 according to the open to be used.Para

11 - 2411. OPTIONS AND AUXILIARY EQUIPMENTFor the MR-RB50 install the cooling fan as shown.82.5 4082.5133Fan installation screw hole dimensions2-M3 s

11 - 2511. OPTIONS AND AUXILIARY EQUIPMENTThe drawing below shows the MR-J3-500B. For built-in regenerative brake resistor lead terminal fixingscrew,

11 - 2611. OPTIONS AND AUXILIARY EQUIPMENT(c) MR-J3-11KB(4) to MR-J3-22KB(4) (when using the supplied regenerative brake resistor)When using the rege

11 - 2711. OPTIONS AND AUXILIARY EQUIPMENT(d) MR-J3-11KB(4)-PX to MR-J3-22KB(4)-PX (when using the regenerative brake option)The MR-J3-11KB(4)-PX to

11 - 2811. OPTIONS AND AUXILIARY EQUIPMENT(5) Outline drawing(a) MR-RB032 MR-RB12LA5 (0.20)LBTE16 (0.23)6 (0.23)156 (6.14)168 (6.61)144 (5.67)12 (0.4

11 - 2911. OPTIONS AND AUXILIARY EQUIPMENT(c) MR-RB50 MR-RB51Tightening torque: 5.4 [N m](47.79 [lb in])Terminal blockG4G3CPTerminal screw: M4Tighten

11 - 3011. OPTIONS AND AUXILIARY EQUIPMENT(e) GRZG400-1.5 GRZG400-0.9 GRZG400-0.6 GRZG400-5.0 GRZG400-2.5 GRZG400-2.0(standard accessories)Variabledi

11 - 3111. OPTIONS AND AUXILIARY EQUIPMENT(2) Connection exampleServo amplifierFR-BR resistor unitMCNFBL1L2L3L11L21PCNP/N/PRHAHBHCAlarmoutputPRPTH1TH

11 - 3211. OPTIONS AND AUXILIARY EQUIPMENT(3) Outside dimensions(a) Brake unit (FR-BU)[Unit : mm]DKFBABEAAACEEEFK(Note)Control circuitterminalsMain c

1 - 51. FUNCTIONS AND CONFIGURATION1.3 Servo amplifier standard specificationsServo AmplifierMR-J3-Item10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 1

11 - 3311. OPTIONS AND AUXILIARY EQUIPMENT(b) Resistor unit (FR-BR)[Unit : mm]3320440K(F)(F)BA 1C 52- DAA 5EE(E)A 5EE(E)(Note)Control circuitter

11 - 3411. OPTIONS AND AUXILIARY EQUIPMENT(2) Connection examplePower supply3-phase200V or 230VACor 3-phase380 to 480VACNFBMCServo amplifierL11L21L1L

11 - 3511. OPTIONS AND AUXILIARY EQUIPMENT(3) Outside dimensions of the power regeneration converters[Unit : mm]AAACFKEEBABED2- D holeRating plateFr

11 - 3611. OPTIONS AND AUXILIARY EQUIPMENT11.5 Power regeneration common converterPOINTUse the FR-CV for the servo amplifier of 200VAC class and the

11 - 3711. OPTIONS AND AUXILIARY EQUIPMENTFR-CV-HItem22K 30K 37K 55KMaximum number of connected servo amplifiers 6Total of connectable servo amplifie

11 - 3811. OPTIONS AND AUXILIARY EQUIPMENT(3) Connection diagram(a) 200VAC classRA1EM1CBR/L11Three-phase 200 to 230VACS/L21T/L31R2/L1S2/L22R2/L12T2/L

11 - 3911. OPTIONS AND AUXILIARY EQUIPMENT(b) 400VAC classDOCOMRA1EM1CBR/L113-phase380 to 480VACS/L21T/L31R2/L1S2/L22R2/L12T2/L32S2/L2N/L-(Note 3)P24

11 - 4011. OPTIONS AND AUXILIARY EQUIPMENT(4) Wires used for wiring(a) Wire sizes1) Across P-P, N-NThe following table indicates the connection wire

11 - 4111. OPTIONS AND AUXILIARY EQUIPMENT2) 400VAC classR2/L1S2/L2T2/L3R/L11S/L21T/MC1P/L+N/L-PN50mm2PNPNPN22mm28mm23.5mm222mm28mm25.5mm23.5mm2FR-CV

11 - 4211. OPTIONS AND AUXILIARY EQUIPMENT(6) SpecificationsPower regeneration common converterFR-CV-Item7.5K 11K 15K 22K 30K 37K 55KTotal of connect

1 - 61. FUNCTIONS AND CONFIGURATIONServo AmplifierMR-J3-Item11KB4 15KB4 22KB4Voltage/frequency 3-phase 380 to 480VAC, 50/60HzPermissible voltage fluc

11 - 4311. OPTIONS AND AUXILIARY EQUIPMENT11.6 External dynamic brake(1) Selection of dynamic brakeThe dynamic brake is designed to bring the servo m

11 - 4411. OPTIONS AND AUXILIARY EQUIPMENTServo motor rotationCoastingAlarmRA1ONOFFForced stop(EM1)AbsentInvalidValidShortOpena. Timing chart at alar

11 - 4511. OPTIONS AND AUXILIARY EQUIPMENT(3) Outline dimension drawing(a) DBU-11KDBU-15K DBU-22KUVWD100(3.94)D(0.2)5CEGF2.3(0.09)Terminal blockScrew

11 - 4611. OPTIONS AND AUXILIARY EQUIPMENT(b) DBU-11K-4 DBU-22K-41551251573.75 72515010200170178.5179.51526028043102- 7Mounting hole19522826262102.

11 - 4711. OPTIONS AND AUXILIARY EQUIPMENT11.7 Junction terminal block PS7DW-20V14B-F (Recommended)(1) How to use the junction terminal blockAlways u

11 - 4811. OPTIONS AND AUXILIARY EQUIPMENT(3) Outline drawings of junction terminal block[Unit : mm]TB.E( 6)36.527.818.87.6244.115463 4.54.55460

11 - 4911. OPTIONS AND AUXILIARY EQUIPMENT11.8 MR ConfiguratorThe MR configurator (MRZJW3-SETUP221E) uses the communication function of the servo amp

11 - 5011. OPTIONS AND AUXILIARY EQUIPMENT11.9 Battery Unit MR-J3BATPOINTThe revision (Edition 44) of the Dangerous Goods Rule of the International A

11 - 5111. OPTIONS AND AUXILIARY EQUIPMENT11.10 Heat sink outside mounting attachment (MR-J3ACN)Use the heat sink outside mounting attachment to moun

11 - 5211. OPTIONS AND AUXILIARY EQUIPMENT(3)Fitting methodFit using theassembilingscrews.AttachmentServoamplifierAttachmentServoamplifierPunchedhole

1 - 71. FUNCTIONS AND CONFIGURATION1.4 Function listThe following table lists the functions of this servo. For details of the functions, refer to the

11 - 5311. OPTIONS AND AUXILIARY EQUIPMENT11.11 Recommended wiresPOINTRefer to Section 11.1.5 for SSCNET cable.(1) Wires for power supply wiringThe

11 - 5411. OPTIONS AND AUXILIARY EQUIPMENTTable 11.1 Recommended wiresWires [mm2]Servo amplifier1)L1L2L32) L11L213)UV W4) P C5) B1B26)BUBV BW7)OHS1 O

11 - 5511. OPTIONS AND AUXILIARY EQUIPMENTTable 11.2 Recommended crimping terminalsServo amplifier side crimping terminals Servo amplifier side crimp

11 - 5611. OPTIONS AND AUXILIARY EQUIPMENT(2) Wires for cablesWhen fabricating a cable, use the wire models given in the following table or equivalen

11 - 5711. OPTIONS AND AUXILIARY EQUIPMENT11.12 No-fuse breakers, fuses, magnetic contactorsAlways use one no-fuse breaker and one magnetic contactor

11 - 5811. OPTIONS AND AUXILIARY EQUIPMENT11.13 Power Factor Improving DC ReactorPOINTFor the 100VAC power supply type (MR-J3- B1), the power factor

11 - 5911. OPTIONS AND AUXILIARY EQUIPMENT(2) 400V class[Unit: mm]Screw size G(Note1)Terminal cover2-F LnotchA or lessEName C or lessDB or lessHFLM

11 - 6011. OPTIONS AND AUXILIARY EQUIPMENT11.14 Power factor improving AC reactorsThe power factor improving AC reactors improve the phase factor by

11 - 6111. OPTIONS AND AUXILIARY EQUIPMENT11.15 Relays (Recommended)The following relays should be used with the interfaces:Interface Selection examp

11 - 6211. OPTIONS AND AUXILIARY EQUIPMENT11.17 Noise reduction techniquesNoises are classified into external noises which enter the servo amplifier

1 - 81. FUNCTIONS AND CONFIGURATION1.5 Model code definition(1) Rating plateMR-J3-10B AC SERVOPOWER :INPUT :OUTPUT:SERIAL :100W0.9A 3PH+1PH200-23

11 - 6311. OPTIONS AND AUXILIARY EQUIPMENT(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunctionNoise

11 - 6411. OPTIONS AND AUXILIARY EQUIPMENTNoise transmission route Suppression techniques1) 2) 3)When measuring instruments, receivers, sensors, et

11 - 6511. OPTIONS AND AUXILIARY EQUIPMENT(b) Surge suppressorThe recommended surge suppressor for installation to an AC relay, AC valve, AC electrom

11 - 6611. OPTIONS AND AUXILIARY EQUIPMENTOutline drawingEarth plate Clamp section diagram(Note)M4 screw1136CA62217.53535L or less1030724 00.2Note.

11 - 6711. OPTIONS AND AUXILIARY EQUIPMENT(d) Line noise filter (FR-BSF01, FR-BLF)This filter is effective in suppressing noises radiated from the po

11 - 6811. OPTIONS AND AUXILIARY EQUIPMENT11.18 Leakage current breaker(1) Selection methodHigh-frequency chopper currents controlled by pulse width

11 - 6911. OPTIONS AND AUXILIARY EQUIPMENTTable 11.4 Servo motor's leakage current example (Igm) Table 11.5 Servo amplifier's leakage curre

11 - 7011. OPTIONS AND AUXILIARY EQUIPMENT11.19 EMC filter (Recommended)For compliance with the EMC directive of the EN Standard, it is recommended t

11 - 7111. OPTIONS AND AUXILIARY EQUIPMENTHF3030A-UN HF-3040A-UNJ 2H 2G 1F 2E 1D 23-L6-K3-LMC 1B 2A 5C 1Dimensions [mm]ModelABCDE

11 - 7211. OPTIONS AND AUXILIARY EQUIPMENTTF3030C-TX[Unit: mm]290 2100 1308 5332 5Approx.12.23-M416 166-R3.25 length8 M4 M4125 2140 1155 2IN15

1 - 91. FUNCTIONS AND CONFIGURATION1.6 Combination with servo motorThe following table lists combinations of servo amplifiers and servo motors. The s

11 - 7311. OPTIONS AND AUXILIARY EQUIPMENTTF3040C-TX TF3060C-TX[Unit: mm]K 2LJH 5M6C 2D 1B 5A 5Approx.173-M622 228-M M4 M4G 23-M6F 1E 2IND

11 - 7411. OPTIONS AND AUXILIARY EQUIPMENTMEMO

12 - 1 12. ABSOLUTE POSITION DETECTION SYSTEM 12. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If an absolute position erase alarm (25) or absoluto p

12 - 2 12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Specifications POINT Replace the battery with only the control circuit power ON. Removal of th

12 - 3 12. ABSOLUTE POSITION DETECTION SYSTEM 12.3 Battery installation procedure WARNING Before starting battery installation procedure, make su

12 - 4 12. ABSOLUTE POSITION DETECTION SYSTEM 12.4 Confirmation of absolute position detection data You can confirm the absolute position data wit

App - 1AppendixApp 1. Parameter listPOINTParameter whose symbol is preceded by * is made valid with the followingconditions.* : Set the parameter val

App - 2AppendixExtension setting parameters (PC ) I/O setting parameters (PD )No. Symbol Name No. Symbol NamePC01 *ERZ Error excessive alarm le

App - 3AppendixApp 3. Twin type connector : Outline drawing for 721-2105/026-000(WAGO)[Unit: mm] Driver slot 5.255 Detecting hole Coding fingerLatc

App - 4AppendixApp 4. Combination of servo amplifier and servo motorThe servo amplifier software versions compatible with the servo motors are indica

1 - 101. FUNCTIONS AND CONFIGURATION1.7 Structure1.7.1 Parts identification(1) MR-J3-100B or lessUsed to connect the servo system controller or the f

REVISIONS*The manual number is given on the bottom left of the back cover.Print Data *Manual Number RevisionMay, 2005 SH(NA)030051-A First editionJan.

HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310SH (NA) 030051-B (0601) MEE Printed in Japan Specifications subject to change without notice. Thi

1 - 111. FUNCTIONS AND CONFIGURATION(2) MR-J3-200B MR-J3-350BTest operation select switch (SW2-1)Used to perform the test operation mode by using MR

1 - 121. FUNCTIONS AND CONFIGURATION (3) MR-J3-500BPOINT The servo amplifier is shown without the front cover. For removal of the frontcover, refer t

A - 2 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 15 minutes.

1 - 131. FUNCTIONS AND CONFIGURATION(4) MR-J3-700BPOINT The servo amplifier is shown without the front cover. For removal of the frontcover, refer to

1 - 141. FUNCTIONS AND CONFIGURATION(5) MR-J3-11KB(4) or morePOINTThe servo amplifier is shown without the front cover. For removal of the frontcover

1 - 151. FUNCTIONS AND CONFIGURATION1.7.2 Removal and reinstallation of the front coverCAUTION Before removing or reinstalling the front cover, make

1 - 161. FUNCTIONS AND CONFIGURATIONReinstallation of the front coverFront cover setting tabAAInsert the front cover setting tabs into the sockets of

1 - 171. FUNCTIONS AND CONFIGURATION(2) For MR-J3-11KB(4) or moreRemoval of the front coverCBA1) Press the removing knob on the lower side of thefron

1 - 181. FUNCTIONS AND CONFIGURATION1.8 Configuration including auxiliary equipmentPOINTEquipment other than the servo amplifier and servo motor are

1 - 191. FUNCTIONS AND CONFIGURATION(b) For 1-phase 100V to 120VAC(Note2)WUVCN5PCCN3CN1ACN1BCN2CN4 L11L21L1L21-phase 100V to 120VAC power supply

1 - 201. FUNCTIONS AND CONFIGURATION(2) MR-J3-200B MR-J3-350B R S TPCL21P1P2UVW L11L1L2L3CN5CN3CN2CN1ACN1BCN4Line noise filter(FR-BSF01)3-phase 2

1 - 211. FUNCTIONS AND CONFIGURATION(3) MR-J3-500B R S TL21P1P2CN3CN2CN1ACN1BCN4CN5(Note2)L11 UVWCPL1L2L3Regenerative brake optionLine noise filte

1 - 221. FUNCTIONS AND CONFIGURATION(4) MR-J3-700B R S TL21L11UVWCPL1L2L3CN5CN3CN2CN1ACN1BCN4P2P1 Line noise filter(FR-BLF)3-phase 200V to 230VAC

A - 3 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric sh

1 - 231. FUNCTIONS AND CONFIGURATION(5) MR-J3-11KB(4) or moreLine noise filter (FR-BLF)3-phase 200Vto 230VAC powersupply or 3-phase 380V to 480VAC R

1 - 241. FUNCTIONS AND CONFIGURATIONMEMO

2 - 1 2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment to incomb

2 - 2 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Mounting closely is available for a combination of servo amplifiers

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 inte

2 - 4 2. INSTALLATION 2.4 SSCNET cable laying SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, la

2 - 5 2. INSTALLATION (4) Lateral pressure If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fibe

2 - 6 2. INSTALLATION 2.5 Inspection Items WARNING Before starting maintenance and/or inspection, make sure that the charge lamp is off more than

3 - 13. SIGNALS AND WIRING3. SIGNALS AND WIRINGWARNINGAny person who is involved in wiring should be fully competent to do the work.Before starting w

3 - 23. SIGNALS AND WIRING3.1 Input power supply circuit CAUTIONWhen the servo amplifier has become faulty, switch power off on the servoamplifier po

A - 4 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor,

3 - 33. SIGNALS AND WIRING(2) For 1-phase 200V to 230VAC power supply to MR-J3-10B to MR-J3-70BDICOMEM1NFB MCL1L2L3ALMRA1P1P2PDOCOML11L21NDCUVWCNP1CN

3 - 43. SIGNALS AND WIRING(3) For MR-J3-10B1 to MR-J3-40B1DICOMEM1NFB MCL1BlankL2ALMRA1P1P2PDOCOML11L21NDCUVWCNP1CNP3PECNP2UVW2341MCN224VDCDOCOM1-pha

3 - 53. SIGNALS AND WIRING(4) MR-J3-500B MR-J3-700BEMGNFB MCL1L2L3ALM RA1CDICO DOC PUVWTE1PEL11L21TE2UVW2341MCN2P1P2NTE3CN3 CN3Built-in regenerative

3 - 63. SIGNALS AND WIRING(5) MR-J3-11KB to MR-J3-22KBNFB MCL1L2L33-phase 200 to 230VACServo amplifierPCUVWTEPEL11L21Servo motorUVWMEncoderCN2(Note3)

3 - 73. SIGNALS AND WIRING(6) MR-J3-11KB4 to MR-J3-22KB4NFB MCL1L2L33-phase 380V to 480VACPCUVWTEPEL11L21UVWMCN2P1EM1ALM RA1DICOMDOCOMDOCOMCN3 CN3Dyn

3 - 83. SIGNALS AND WIRING3.2 I/O signal Connection Example520CN3Encoder Z-phase pulse(differential line driver)4RA12m Max(Note12)(Note5)MR Configura

3 - 93. SIGNALS AND WIRINGNote 1 To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amp

3 - 103. SIGNALS AND WIRING3.3 Explanation of Power Supply System3.3.1 Signal explanationsPOINTFor the layout of connector and terminal block, refer

3 - 113. SIGNALS AND WIRING3.3.2 Power-on sequence(1) Power-on procedure1) Always wire the power supply as shown in above Section 3.1 using the magne

3 - 123. SIGNALS AND WIRING3.3.3 CNP1, CNP2, CNP3 wiring methodPOINT Refer to Table 11.1 in Section 11.11 for the wire sizes used for wiring. MR-J3-5

A - 5 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. An

3 - 133. SIGNALS AND WIRING(c) The twin type connector for CNP2 (L11L21): 721-2105/026-000 (WAGO)Using this connector enables passing a wire of contr

3 - 143. SIGNALS AND WIRING(b) Termination of the cables1) CNP1CNP3Solid wire: After the sheath has been stripped, the cable can be used as it is.7mm

3 - 153. SIGNALS AND WIRING(3) Insertion of cable into 54928-0610 54927-0510 and 54928-0310 (Molex)POINTIt may be difficult for a cable to be insert

3 - 163. SIGNALS AND WIRING2) Cable connection procedure1) Attach the cable connection lever to the housing. (Detachable)2) Push the cable connect

3 - 173. SIGNALS AND WIRING(b) Inserting the cable into the connector1) Applicable flat-blade screwdriver dimensionsAlways use the screwdriver shown

3 - 183. SIGNALS AND WIRING3) When using the flat-blade screwdriver - part 21) Insert the screwdriver into the square window at top of the conn

3 - 193. SIGNALS AND WIRING3.4 Connectors and signal arrangementsPOINTThe pin configurations of the connectors are as viewed from the cableconnector

3 - 203. SIGNALS AND WIRING3.5 Signal (device) explanationsFor the I/O interfaces (symbols in I/O division column in the table), refer to Section 3.7

3 - 213. SIGNALS AND WIRINGDevice SymbolConnector PinNo.Function/ApplicationI/OdivisionSpeed reached SA When using this signal, make it usable by the

3 - 223. SIGNALS AND WIRING(c) Output signalsSignal name SymbolConnector PinNo.Function/ApplicationEncoder A-phasepulse(Differential linedriver)LALAR

A - 6 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplifier will deteriorate. To

3 - 233. SIGNALS AND WIRING3.6 Alarm occurrence timing chart CAUTIONWhen an alarm has occurred, remove its cause, make sure that the operationsignal

3 - 243. SIGNALS AND WIRING3.7 Interfaces3.7.1 Internal connection diagram3EM1CN320DI1 2DI2 12DI3 19DICOM53CN31013915DICOM(Note 2)ALMCN3616717818LALA

3 - 253. SIGNALS AND WIRING3.7.2 Detailed description of interfacesThis section provides the details of the I/O signal interfaces (refer to the I/O d

3 - 263. SIGNALS AND WIRING(3) Encoder pulse output DO-2 (Differential line driver system)(a) InterfaceMax. output current: 35mALA(LB, LZ)LAR(LBR, LZ

3 - 273. SIGNALS AND WIRING3.7.3 Source I/O interfacesIn this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input s

3 - 283. SIGNALS AND WIRING3.8 Treatment of cable shield external conductorIn the case of the CN2 and CN3 connectors, securely connect the shielded e

3 - 293. SIGNALS AND WIRING3.9 SSCNET cable connectionPOINTDo not see directly the light generated from CN1A CN1B connector of servoamplifier or the

3 - 303. SIGNALS AND WIRING3) With holding a tab of SSCNET cable connector, make sure to insert it into CN1A CN1B connectorof servo amplifier until

3 - 313. SIGNALS AND WIRING3.10 Connection of servo amplifier and servo motor3.10.1 Connection instructionsWARNINGInsulate the connections of the pow

3 - 323. SIGNALS AND WIRING3.10.2 Power supply cable wiring diagrams(1) HF-MP serviceHF-KP series HF-KP series servo motor(a) When cable length is 10

A - 7 About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the l

3 - 333. SIGNALS AND WIRING(2) HF-SP series HC-RP series HC-UP series HC-LP series servo motor(a) Wiring diagramsRefer to Section 11.11 for the cable

3 - 343. SIGNALS AND WIRINGEncoder connector signal allotmentCN10-R10PPower supply connector signal allotmentMS3102A18-10PMS3102A22-22PCE05-2A32-17PD

3 - 353. SIGNALS AND WIRING(3) HA-LP series servo motor(a) Wiring diagramsRefer to Section 11.11 for the cables used for wiring.1) 200VAC classServo

3 - 363. SIGNALS AND WIRING2) 400VAC classMUVWUVWCNP3L1L2L3OHS2OHS1BUBVBWMCB1B2(Note5)Cooling fan power supplyServo motorServo amplifierFan(Note3)(No

3 - 373. SIGNALS AND WIRING(b) Servo motor terminalsTerminal box Encoder connectorCM10-R10PBrake connectorMS3102A10SL-4PTerminalNo.SignalTerminalNo.S

3 - 383. SIGNALS AND WIRINGTerminal box inside (HA-LP801(4), 12K1(4), 11K1M(4), 15K1M(4), 15K2(4), 22K2(4))Thermal sensor terminal block(OHS1,OHS2) M

3 - 393. SIGNALS AND WIRINGSignal Name Abbreviation DescriptionPoower supply U V W Connect to the motor output terminals (U, V, W) of the servo ampli

3 - 403. SIGNALS AND WIRING3.11 Servo motor with electromagnetic brake3.11.1 Safety precautionsCAUTIONConfigure the electromagnetic brake circuit so

3 - 413. SIGNALS AND WIRING3.11.2 Timing charts(1) Servo-on command (from controller) ON/OFFTb [ms] after the servo-on is switched off, the servo loc

3 - 423. SIGNALS AND WIRING(3) Alarm occurrenceServo motor speedONOFFBase circuitElectromagneticbrake interlock (MBR)Invalid(ON)Valid(OFF)AlarmNoYesD

A - 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries

3 - 433. SIGNALS AND WIRING3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)POINTFor HF-SP series HC-RP series HC-UP series HC-LP series

3 - 443. SIGNALS AND WIRING3.12 GroundingWARNINGGround the servo amplifier and servo motor securely.To prevent an electric shock, always connect the

3 - 453. SIGNALS AND WIRING3.13 Control axis selectionPOINT The control axis number set to rotary axis setting switch (SW1) should be thesame as the

3 - 463. SIGNALS AND WIRINGMEMO

4 - 1 4. STARTUP 4. STARTUP WARNING Do not operate the switches with wet hands. You may get an electric shock. CAUTION Before starting operation

4 - 2 4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check

4 - 3 4. STARTUP 2) When regenerative brake option is used over 5kW The lead of built-in regenerative brake resistor connected to P terminal and

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

4 - 5 4. STARTUP 4.3 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the status of communicatio

4 - 6 4. STARTUP (2) Indication list Indication Status Description A b Initializing Power of the servo amplifier was switched on at the condition