Manuel D’UtilisationTable des matièresSafety Instructions2DISPOSAL OF WASTE8COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES8COMPLIANCE WITH UL/C-UL STANDARD8About the manuals8Wiring8CONTENTS101. FUNCTIONS AND CONFIGURATION181.1 Summary181.2 Function block diagram191.3 Servo amplifier standard specifications221.4 Function list241.5 Model code definition261.6 Combination with servo motor271.7 Structure291.7.1 Parts identification291.7.2 Removal and reinstallation of the front cover361.8 Configuration including auxiliary equipment392. INSTALLATION482.1 Installation direction and clearances492.2 Keep out foreign materials512.3 Cable stress522.4 Inspection items522.5 Parts having service lives533. SIGNALS AND WIRING543.1 Input power supply circuit553.2 I/O signal connection example633.2.1 Position control mode633.2.2 Speed control mode653.2.3 Torque control mode673.3 Explanation of power supply system693.3.1 Signal explanations693.3.2 Power-on sequence703.3.3 CNP1, CNP2, CNP3 wiring method723.4 Connectors and signal arrangements803.5 Signal explanations833.6 Detailed description of the signals933.6.1 Position control mode933.6.2 Speed control mode973.6.3 Torque control mode993.6.4 Position/speed control change mode1023.6.5 Speed/torque control change mode1043.6.6 Torque/position control change mode1063.7 Alarm occurrence timing chart1073.8 Interfaces1083.8.1 Internal connection diagram1083.8.2 Detailed description of interfaces1093.8.3 Source I/O interfaces1133.9 Treatment of cable shield external conductor1143.10 Connection of servo amplifier and servo motor1153.10.1 Connection instructions1153.10.2 Power supply cable wiring diagrams1163.11 Servo motor with an electromagnetic brake1263.11.1 Safety precautions1263.11.2 Setting1263.11.3 Timing charts1273.11.4 Wiring diagrams (HF-MP series HF-KP series servo motor)1293.12 Grounding1314. STARTUP1324.1 Switching power on for the first time1324.1.1 Startup procedure1324.1.2 Wiring check1334.1.3 Surrounding environment1344.2 Startup in position control mode1354.2.1 Power on and off procedures1354.2.2 Stop1354.2.3 Test operation1364.2.4 Parameter setting1374.2.5 Actual operation1384.2.6 Trouble at start-up1384.3 Startup in speed control mode1404.3.1 Power on and off procedures1404.3.2 Stop1414.3.3 Test operation1424.3.4 Parameter setting1434.3.5 Actual operation1444.3.6 Trouble at start-up1444.4 Startup in torque control mode1454.4.1 Power on and off procedures1454.4.2 Stop1464.4.3 Test operation1474.4.4 Parameter setting1484.4.5 Actual operation1494.4.6 Trouble at start-up1495. PARAMETERS1505.1 Basic setting parameters (No.PA [ ] [ ] )1505.1.1 Parameter list1505.1.2 Parameter write inhibit1515.1.3 Selection of control mode1525.1.4 Selection of regenerative option1545.1.5 Using absolute position detection system1555.1.6 Using electromagnetic brake interlock (MBR)1555.1.7 Number of command input pulses per servo motor revolution1565.1.8 Electronic gear1575.1.9 Auto tuning1615.1.10 In-position range1625.1.11 Torque limit1635.1.12 Selection of command pulse input form1645.1.13 Selection of servo motor rotation direction1655.1.14 Encoder output pulse1655.2 Gain/filter parameters (No.PB [ ] [ ] )1675.2.1 Parameter list1675.2.2 Detail list1695.2.3 Position smoothing1785.3 Extension setting parameters (No.PC [ ] [ ] )1795.3.1 Parameter list1795.3.2 List of details1805.3.3 Analog monitor1905.3.4 Alarm history clear1925.4 I/O setting parameters (No.PD [ ] [ ] )1935.4.1 Parameter list1935.4.2 List of details1945.4.3 Using forward/reverse rotation stroke end to change the stopping pattern2026. DISPLAY AND OPERATION SECTIONS2046.1 Overview2046.2 Display sequence2056.3 Status display2066.3.1 Display transition2066.3.2 Display examples2076.3.3 Status display list2086.3.4 Changing the status display screen2096.4 Diagnostic mode2106.5 Alarm mode2116.6 Parameter mode2136.6.1 Parameter mode transition2136.6.2 Operation example2146.7 External I/O signal display2166.8 Output signal (DO) forced output2196.9 Test operation mode2206.9.1 Mode change2206.9.2 JOG operation2216.9.3 Positioning operation2226.9.4 Motor-less operation2247. GENERAL GAIN ADJUSTMENT2267.1 Different adjustment methods2267.1.1 Adjustment on a single servo amplifier2267.1.2 Adjustment using MR Configurator2277.2 Auto tuning2287.2.1 Auto tuning mode2287.2.2 Auto tuning mode basis2297.2.3 Adjustment procedure by auto tuning2307.2.4 Response level setting in auto tuning mode2317.3 Manual mode 1 (simple manual adjustment)2327.4 Interpolation mode2357.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning2368. SPECIAL ADJUSTMENT FUNCTIONS2388.1 Function block diagram2388.2 Adaptive filter II2388.3 Machine resonance suppression filter2418.4 Advanced vibration suppression control2438.5 Low-pass filter2478.6 Gain changing function2478.6.1 Applications2478.6.2 Function block diagram2488.6.3 Parameters2498.6.4 Gain changing procedure2518.7 Vibration suppression control filter 22539. TROUBLESHOOTING2569.1 Alarms and warning list2569.2 Remedies for alarms2579.3 Remedies for warnings2709.4 Troubles without an alarm/warning27210. OUTLINE DRAWINGS28210.1 Servo amplifier28210.2 Connector29111. CHARACTERISTICS29411.1 Overload protection characteristics29411.2 Power supply equipment capacity and generated loss29611.3 Dynamic brake characteristics29911.3.1 Dynamic brake operation29911.3.2 The dynamic brake at the load inertia moment30311.4 Cable flexing life30411.5 Inrush currents at power-on of main circuit and control circuit30412. OPTIONS AND AUXILIARY EQUIPMENT30612.1 Cable/connector sets30612.1.1 Combinations of cable/connector sets30712.1.2 Encoder cable/connector sets31512.1.3 Motor power supply cables33012.1.4 Motor brake cables33112.2 Regenerative options33212.3 FR-BU2-(H) brake unit34512.3.1 Selection34612.3.2 Brake unit parameter setting34612.3.3 Connection example34712.3.4 Outline dimension drawings35412.4 Power regenerative converter35612.5 Power regenerative common converter35912.6 External dynamic brake36712.7 Junction terminal block MR-TB5037212.8 MR Configurator37412.9 Battery unit MR-J3BAT37812.10 Heat sink outside mounting attachment (MR-J3ACN)37912.11 Selection example of wires38112.12 No-fuse breakers, fuses, magnetic contactors38612.13 Power factor improving DC reactor38712.14 Power factor improving reactors38912.15 Relays (recommended)39012.16 Surge absorbers (recommended)39112.17 Noise reduction techniques39112.18 Leakage current breaker39912.19 EMC filter (recommended)40113. COMMUNICATION FUNCTION40613.1 Configuration40613.2 Communication specifications40813.2.1 Communication overview40813.2.2 Parameter setting40913.3 Protocol41013.3.1 Transmission data configuration41013.3.2 Character codes41113.3.3 Error codes41213.3.4 Checksum41213.3.5 Time-out41313.3.6 Retry41313.3.7 Initialization41413.3.8 Communication procedure example41413.4 Command and data No. list41513.4.1 Read commands41513.4.2 Write commands41913.5 Detailed explanations of commands42113.5.1 Data processing42113.5.2 Status display42313.5.3 Parameters42413.5.4 External I/O signal statuses (DIO diagnosis)42713.5.5 Input device ON/OFF43013.5.6 Disable/enable of I/O devices (DIO)43013.5.7 Input devices ON/OFF (test operation)43113.5.8 Test operation mode43213.5.9 Output signal pin ON/OFF output signal (DO) forced output43513.5.10 Alarm history43613.5.11 Current alarm43713.5.12 Other commands43814. ABSOLUTE POSITION DETECTION SYSTEM44014.1 Outline44014.1.1 Features44014.1.2 Restrictions44114.2 Specifications44214.3 Battery replacement procedure44314.3.1 When replacing battery with the control circuit power ON44314.3.2 When replacing battery with the control circuit power OFF44314.4 Battery installation procedure44414.5 Procedure to replace battery with the control circuit power OFF44414.5.1 Preparation for battery replacement44414.5.2 Replacement procedure44514.6 Standard connection diagram44614.7 Signal explanation44714.8 Startup procedure44814.9 Absolute position data transfer protocol44914.9.1 Data transfer procedure44914.9.2 Transfer method45014.9.3 Home position setting46114.9.4 Use of servo motor with an electromagnetic brake46314.9.5 How to process the absolute position data at detection of stroke end46414.10 Examples of use46514.10.1 MELSEC FX(2N)-32MT (FX(2N)-1PG)46514.10.2 MELSEC A1SD7547714.10.3 MELSEC QD7549014.11 Absolute position data transfer errors49814.11.1 Corrective actions49814.11.2 Error resetting conditions50014.12 Communication-based ABS transfer system50114.12.1 Serial communication command50114.12.2 Absolute position data transfer protocol50114.13 Confirmation of absolute position detection data50515. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW)50615.1. Functions and menus50615.1.1 Function block diagram50715.1.2 Packing list50915.1.3 Standard specifications51015.1.4 Model definition51315.1.5 Combinations of converter units, drive unit and servo motors51415.1.6 Parts identification51515.1.7 Removal and reinstallation of the terminal block cover51815.1.8 Servo system with auxiliary equipment52415.2 Installation52515.2.1 Installation direction and clearances52615.2.2 Inspection52715.3 Signals and wiring52815.3.1 Magnetic contactor control connector (CNP1)52915.3.2 Input power supply circuit53115.3.3 Terminal53615.3.4 How to use the connection bars53715.3.5 Connectors and signal arrangements53815.3.6 Converter unit signal (device) explanations54015.3.7 Timing chart54215.3.8 Servo motor side details55015.4 Display section and operation section of the converter unit55215.4.1 Display flowchart55215.4.2 Status display mode55315.4.3 Diagnostic mode55415.4.4 Alarm mode55615.4.5 Parameter mode55715.5. Parameters for converter unit55815.5.1 Parameter list55815.5.2 List of details55915.6 Troubleshooting56015.6.1 Converter unit56015.6.2 Drive unit56515.7 Outline drawings56715.7.1 Converter unit (MR-J3-CR55K(4))56715.7.2 Drive unit56815.8 Characteristics57015.8.1 Overload protection characteristics57015.8.2 Power supply equipment capacity and generated loss57115.8.3 Dynamic brake characteristics57215.8.4 Inrush currents at power-on of main circuit and control circuit57515.9 Options57515.9.1 Cables and connectors57515.9.2 Regenerative option57915.9.3 External dynamic brake58315.9.4 Selection example of wires58615.9.5 No-fuse breakers, fuses, magnetic contactors58815.9.6 Power factor improving DC reactor58915.9.7 Line noise filter (FR-BLF)59015.9.8 Leakage current breaker59115.9.9 EMC filter (recommended)59315.9.10 FR-BU2-(H) brake unit59516. PARAMETER UNIT (MR-PRU03)60816.1 External appearance and key explanations60916.2 Specifications61016.3 Outline dimension drawings61016.4 Connection with servo amplifier61116.4.1 Single axis61116.4.2 Multidrop connection61216.5 Display61416.5.1 Outline of screen transition61416.5.2 MR-PRU03 parameter unit setting61516.5.3 Monitor mode (status display)61616.5.4 Alarm/diagnostic mode61916.5.5 Parameter mode62116.5.6 Test operation mode62216.6 Error message list626APPENDIX628App. 1 Parameter list628App. 2 Signal layout recording paper630App. 3 Status display block diagram631App. 4 Change of connector sets to the RoHS compatible products632App. 5 MR-J3-200A-RT servo amplifier633App. 6 Selection example of servo motor power cable637App. 7 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods638App. 8 Symbol for the new EU Battery Directive639App. 9 Compliance with the European EC directives640App. 10 Conformance with UL/C-UL standard643REVISIONS651Country/Region667Warranty668Taille: 13 MoPages: 670Language: EnglishOuvrir le manuel
