Manuali utente per Mitsumi electronic mr-j3-b

Sommario

• Safety Instructions

  2
• DISPOSAL OF WASTE

  7
• Compliance with global standards

  7
• About the manual

  7
• Cables used for wiring

  8
• U.S. customary units

  8
• CONTENTS

  10
• 1. FUNCTIONS AND CONFIGURATION

  16
  • 1.1 Summary

    16
  • 1.2 Function block diagram

    17
  • 1.3 Servo amplifier standard specifications

    19
  • 1.4 Combinations of servo amplifiers, servo motors, and controllers

    20
    • 1.4.1 Combinations of servo amplifiers and servo motors

      20
    • 1.4.2 Compatible controller

      20
  • 1.5 Function list

    21
  • 1.6 Model designation

    23
  • 1.7 Structure

    24
    • 1.7.1 Parts identification

      24
  • 1.8 Configuration including peripheral equipment

    26
• 2. INSTALLATION

  28
  • 2.1 Installation direction and clearances

    29
  • 2.2 Keep out foreign materials

    30
  • 2.3 Encoder cable stress

    31
  • 2.4 SSCNET III cable laying

    31
  • 2.5 Inspection items

    33
  • 2.6 Parts having service lives

    34
• 3. SIGNALS AND WIRING

  36
  • 3.1 Input power supply circuit

    37
  • 3.2 I/O signal connection example

    46
    • 3.2.1 For sink I/O interface

      46
    • 3.2.2 For source I/O interface

      47
  • 3.3 Explanation of power supply system

    48
    • 3.3.1 Signal explanations

      48
    • 3.3.2 Power-on sequence

      49
    • 3.3.3 Wiring CNP1 and CNP2

      50
  • 3.4 Connectors and pin assignment

    52
  • 3.5 Signal (device) explanations

    53
    • 3.5.1 Input device

      53
    • 3.5.2 Output device

      54
    • 3.5.3 Power supply

      55
  • 3.6 Forced stop deceleration function

    56
    • 3.6.1 Forced stop deceleration function

      56
    • 3.6.2 Base circuit shut-off delay time function

      57
    • 3.6.3 Vertical axis freefall prevention function

      58
    • 3.6.4 Residual risks of the forced stop function (EM2)

      58
  • 3.7 Alarm occurrence timing chart

    59
    • 3.7.1 When you use the forced stop deceleration function

      59
    • 3.7.2 When you do not use the forced stop deceleration function

      60
    • 3.7.3 Hot line forced stop function

      61
  • 3.8 Interfaces

    67
    • 3.8.1 Internal connection diagram

      67
    • 3.8.2 Detailed explanation of interfaces

      68
    • 3.8.3 Source I/O interfaces

      69
  • 3.9 SSCNET III cable connection

    70
  • 3.10 Servo motor with an electromagnetic brake

    72
    • 3.10.1 Safety precautions

      72
    • 3.10.2 Timing chart

      73
  • 3.11 Grounding

    76
• 4. STARTUP

  78
  • 4.1 Switching power on for the first time

    78
    • 4.1.1 Startup procedure

      78
    • 4.1.2 Wiring check

      79
    • 4.1.3 Surrounding environment

      80
  • 4.2 Startup

    81
  • 4.3 Switch setting and display of the servo amplifier

    82
    • 4.3.1 Axis selection rotary switch (SW1)

      82
    • 4.3.2 Scrolling display

      84
    • 4.3.3 Status display of an axis

      85
  • 4.4 Test operation

    87
  • 4.5 Test operation mode

    87
    • 4.5.1 Test operation mode in MR Configurator2

      88
    • 4.5.2 Motor-less operation in the controller

      90
• 5. PARAMETERS

  92
  • 5.1 Parameter list

    92
    • 5.1.1 Basic setting parameters ([Pr. PA_ _ ])

      93
    • 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

      94
    • 5.1.3 Extension setting parameters ([Pr. PC_ _ ])

      95
    • 5.1.4 I/O setting parameters ([Pr. PD_ _ ])

      97
    • 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

      98
    • 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

      99
  • 5.2 Detailed list of parameters

    101
    • 5.2.1 Basic setting parameters ([Pr. PA_ _ ])

      101
    • 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

      109
    • 5.2.3 Extension setting parameters ([Pr. PC_ _ ])

      121
    • 5.2.4 I/O setting parameters ([Pr. PD_ _ ])

      124
    • 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

      127
    • 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

      128
• 6. NORMAL GAIN ADJUSTMENT

  130
  • 6.1 Different adjustment methods

    130
    • 6.1.1 Adjustment on a single servo amplifier

      130
    • 6.1.2 Adjustment using MR Configurator2

      131
  • 6.2 One-touch tuning

    132
    • 6.2.1 One-touch tuning flowchart

      133
    • 6.2.2 Display transition and operation procedure of one-touch tuning

      134
    • 6.2.3 Caution for one-touch tuning

      137
  • 6.3 Auto tuning

    138
    • 6.3.1 Auto tuning mode

      138
    • 6.3.2 Auto tuning mode basis

      139
    • 6.3.3 Adjustment procedure by auto tuning

      140
    • 6.3.4 Response level setting in auto tuning mode

      141
  • 6.4 Manual mode

    142
  • 6.5 2 Gain adjustment mode

    145
• 7. SPECIAL ADJUSTMENT FUNCTIONS

  148
  • 7.1 Filter setting

    148
    • 7.1.1 Machine resonance suppression filter

      148
    • 7.1.2 Adaptive filter II

      151
    • 7.1.3 Shaft resonance suppression filter

      153
    • 7.1.4 Low-pass filter

      154
    • 7.1.5 Advanced vibration suppression control II

      154
    • 7.1.6 Command notch filter

      158
  • 7.2 Gain switching function

    160
    • 7.2.1 Applications

      160
    • 7.2.2 Function block diagram

      161
    • 7.2.3 Parameter

      162
    • 7.2.4 Gain switching procedure

      165
  • 7.3 Tough drive function

    169
    • 7.3.1 Vibration tough drive function

      169
    • 7.3.2 Instantaneous power failure tough drive function

      171
  • 7.4 Model adaptive control disabled

    173
  • 7.5 Lost motion compensation function

    174
• 8. TROUBLESHOOTING

  178
  • 8.1 Explanation for the lists

    178
  • 8.2 Alarm list

    179
  • 8.3 Warning list

    182
• 9. DIMENSIONS

  184
  • 9.1 Servo amplifier

    184
  • 9.2 Connector

    187
• 10. CHARACTERISTICS

  188
  • 10.1 Overload protection characteristics

    188
  • 10.2 Power supply capacity and generated loss

    190
  • 10.3 Dynamic brake characteristics

    192
    • 10.3.1 Dynamic brake operation

      192
    • 10.3.2 Permissible load to motor inertia when the dynamic brake is used

      193
  • 10.4 Cable bending life

    194
  • 10.5 Inrush current at power-on

    194
• 11. OPTIONS AND PERIPHERAL EQUIPMENT

  196
  • 11.1 Cable/connector sets

    196
    • 11.1.1 Combinations of cable/connector sets

      197
    • 11.1.2 SSCNET III cable

      200
    • 11.1.3 Battery cable and junction battery cable

      202
  • 11.2 Regenerative option

    203
    • 11.2.1 Combination and regenerative power

      203
    • 11.2.2 Selection of regenerative option

      204
    • 11.2.3 Parameter setting

      205
    • 11.2.4 Connection of regenerative option

      206
    • 11.2.5 Dimensions

      210
  • 11.3 Junction terminal block PS7DW-20V14B-F (recommended)

    212
  • 11.4 MR Configurator2

    213
    • 11.4.1 Specifications

      213
    • 11.4.2 System requirements

      214
    • 11.4.3 Precautions for using USB communication function

      215
  • 11.5 Battery

    216
    • 11.5.1 Selection of battery

      216
    • 11.5.2 MR-BAT6V1SET-A battery

      217
    • 11.5.3 MR-BT6VCASE battery case

      221
    • 11.5.4 MR-BAT6V1 battery

      227
  • 11.6 Selection example of wires

    228
  • 11.7 Molded-case circuit breakers, fuses, magnetic contactors

    229
  • 11.8 Power factor improving AC reactor

    230
  • 11.9 Relay (recommended)

    231
  • 11.10 Noise reduction techniques

    232
  • 11.11 Earth-leakage current breaker

    238
  • 11.12 EMC filter (recommended)

    240
• 12. ABSOLUTE POSITION DETECTION SYSTEM

  244
  • 12.1 Summary

    244
    • 12.1.1 Features

      244
    • 12.1.2 Configuration

      245
    • 12.1.3 Parameter setting

      245
    • 12.1.4 Confirmation of absolute position detection data

      245
  • 12.2 Battery

    246
    • 12.2.1 Using the MR-BAT6V1SET-A battery

      246
    • 12.2.2 Using the MR-BT6VCASE battery case

      247
• APPENDIX

  248
  • App. 1 Peripheral equipment manufacturer (for reference)

    248
  • App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

    248
  • App. 3 Symbol for the new EU Battery Directive

    250
  • App. 4 Compliance with global standards

    250
  • App. 5 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service

    262
  • App. 6 Low-voltage directive

    263
  • App. 7 When turning on or off the input power supply with DC power supply

    264
  • App. 8 When using the hot line forced stop function in combination with MR-J4-_B servo amplifier

    265
• REVISION

  266
• Country/Region

  267
• Warranty

  268