Mitsubishi Electronics Mitsubishi Digital Electronics Wheelchair MR-J3-B マニュアル

目次

• Safety Instructions

  2
• About processing of waste

  8
• COMPLIANCE WITH EC DIRECTIVES

  9
• CONFORMANCE WITH UL/C-UL STANDARD

  12
• About the manuals

  14
• CONTENTS

  16
• 1. FUNCTIONS AND CONFIGURATION

  22
  • 1.1 Introduction

    22
  • 1.2 Function block diagram

    23
  • 1.3 Servo amplifier standard specifications

    26
  • 1.4 Function list

    28
  • 1.5 Model code definition

    29
  • 1.6 Combination with servo motor

    31
  • 1.7 Structure

    32
    • 1.7.1 Parts identification

      32
    • 1.7.2 Removal and reinstallation of the front cover

      39
  • 1.8 Configuration including auxiliary equipment

    42
• 2. INSTALLATION

  50
  • 2.1 Installation direction and clearances

    50
  • 2.2 Keep out foreign materials

    52
  • 2.3 Cable stress

    52
  • 2.4 SSCNET III cable laying

    53
  • 2.5 Inspection items

    55
  • 2.6 Parts having service lives

    55
• 3. SIGNALS AND WIRING

  56
  • 3.1 Input power supply circuit

    57
  • 3.2 I/O signal connection example

    65
  • 3.3 Explanation of power supply system

    67
    • 3.3.1 Signal explanations

      67
    • 3.3.2 Power-on sequence

      68
    • 3.3.3 CNP1, CNP2, CNP3 wiring method

      69
  • 3.4 Connectors and signal arrangements

    78
  • 3.5 Signal (device) explanations

    79
  • 3.6 Alarm occurrence timing chart

    82
  • 3.7 Interfaces

    83
    • 3.7.1 Internal connection diagram

      83
    • 3.7.2 Detailed description of interfaces

      84
    • 3.7.3 Source I/O interfaces

      86
  • 3.8 Treatment of cable shield external conductor

    87
  • 3.9 SSCNET III cable connection

    88
  • 3.10 Connection of servo amplifier and servo motor

    90
    • 3.10.1 Connection instructions

      90
    • 3.10.2 Power supply cable wiring diagrams

      91
  • 3.11 Servo motor with an electromagnetic brake

    101
    • 3.11.1 Safety precautions

      101
    • 3.11.2 Timing charts

      102
    • 3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)

      105
  • 3.12 Grounding

    106
  • 3.13 Control axis selection

    107
• 4. STARTUP

  108
  • 4.1 Switching power on for the first time

    108
    • 4.1.1 Startup procedure

      108
    • 4.1.2 Wiring check

      109
    • 4.1.3 Surrounding environment

      110
  • 4.2 Start up

    111
  • 4.3 Servo amplifier display

    112
  • 4.4 Test operation

    114
  • 4.5 Test operation mode

    115
    • 4.5.1 Test operation mode in MR Configurator

      115
    • 4.5.2 Motorless operation in controller

      117
• 5. PARAMETERS

  118
  • 5.1 Basic setting parameters (No.PA[ ][ ] )

    118
    • 5.1.1 Parameter list

      119
    • 5.1.2 Parameter write inhibit

      120
    • 5.1.3 Selection of regenerative option

      121
    • 5.1.4 Using absolute position detection system

      122
    • 5.1.5 Forced stop input selection

      122
    • 5.1.6 Auto tuning

      123
    • 5.1.7 In-position range

      124
    • 5.1.8 Selection of servo motor rotation direction

      125
    • 5.1.9 Encoder output pulse

      125
  • 5.2 Gain/filter parameters (No.PB[ ][ ] )

    127
    • 5.2.1 Parameter list

      127
    • 5.2.2 Detail list

      128
  • 5.3 Extension setting parameters (No.PC[ ][ ] )

    135
    • 5.3.1 Parameter list

      135
    • 5.3.2 List of details

      136
    • 5.3.3 Analog monitor

      139
    • 5.3.4 Alarm history clear

      141
  • 5.4 I/O setting parameters (No.PD[ ][ ] )

    142
    • 5.4.1 Parameter list

      142
    • 5.4.2 List of details

      143
• 6. GENERAL GAIN ADJUSTMENT

  146
  • 6.1 Different adjustment methods

    146
    • 6.1.1 Adjustment on a single servo amplifier

      146
    • 6.1.2 Adjustment using MR Configurator

      147
  • 6.2 Auto tuning

    148
    • 6.2.1 Auto tuning mode

      148
    • 6.2.2 Auto tuning mode operation

      149
    • 6.2.3 Adjustment procedure by auto tuning

      150
    • 6.2.4 Response level setting in auto tuning mode

      151
  • 6.3 Manual mode 1 (simple manual adjustment)

    152
  • 6.4 Interpolation mode

    156
  • 6.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning

    157
• 7. SPECIAL ADJUSTMENT FUNCTIONS

  158
  • 7.1 Function block diagram

    158
  • 7.2 Adaptive filter II

    158
  • 7.3 Machine resonance suppression filter

    161
  • 7.4 Advanced vibration suppression control

    163
  • 7.5 Low-pass filter

    167
  • 7.6 Gain changing function

    167
    • 7.6.1 Applications

      167
    • 7.6.2 Function block diagram

      168
    • 7.6.3 Parameters

      169
    • 7.6.4 Gain changing operation

      171
• 8. TROUBLESHOOTING

  174
  • 8.1 Alarms and warning list

    174
  • 8.2 Remedies for alarms

    175
  • 8.3 Remedies for warnings

    181
• 9. OUTLINE DRAWINGS

  184
  • 9.1 Servo amplifier

    184
  • 9.2 Connector

    193
• 10. CHARACTERISTICS

  196
  • 10.1 Overload protection characteristics

    196
  • 10.2 Power supply equipment capacity and generated loss

    198
  • 10.3 Dynamic brake characteristics

    201
    • 10.3.1 Dynamic brake operation

      201
    • 10.3.2 The dynamic brake at the load inertia moment

      204
  • 10.4 Cable flexing life

    205
  • 10.5 Inrush currents at power-on of main circuit and control circuit

    205
• 11. OPTIONS AND AUXILIARY EQUIPMENT

  206
  • 11.1 Cable/connector sets

    206
    • 11.1.1 Combinations of cable/connector sets

      207
    • 11.1.2 Encoder cable/connector sets

      213
    • 11.1.3 Motor power supply cables

      222
    • 11.1.4 Motor brake cables

      223
    • 11.1.5 SSCNET III cable

      224
  • 11.2 Regenerative options

    226
  • 11.3 FR-BU2-(H) Brake unit

    239
    • 11.3.1 Selection

      240
    • 11.3.2 Brake unit parameter setting

      240
    • 11.3.3 Connection example

      241
    • 11.3.4 Outline dimension drawings

      248
  • 11.4 Power regeneration converter

    250
  • 11.5 Power regeneration common converter

    253
  • 11.6 External dynamic brake

    261
  • 11.7 Junction terminal block PS7DW-20V14B-F (recommended)

    266
  • 11.8 MR Configurator

    267
  • 11.9 Battery MR-J3BAT

    269
  • 11.10 Heat sink outside mounting attachment (MR-J3ACN)

    270
  • 11.11 Selection example of wires

    272
  • 11.12 No-fuse breakers, fuses, magnetic contactors

    277
  • 11.13 Power factor improving DC reactor

    277
  • 11.14 Power factor improving AC reactors

    279
  • 11.15 Relays (recommended)

    280
  • 11.16 Surge absorbers (recommended)

    281
  • 11.17 Noise reduction techniques

    281
  • 11.18 Leakage current breaker

    288
  • 11.19 EMC filter (recommended)

    290
• 12. ABSOLUTE POSITION DETECTION SYSTEM

  296
  • 12.1 Features

    296
  • 12.2 Specifications

    297
  • 12.3 Battery installation procedure

    298
  • 12.4 Confirmation of absolute position detection data

    300
• 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW)

  302
  • 13.1. Functions and menus

    302
    • 13.1.1 Function block diagram

      303
    • 13.1.2 Packing list

      305
    • 13.1.3 Standard specifications

      306
    • 13.1.4 Model definition

      309
    • 13.1.5 Combinations of converter units, drive unit and servo motors

      310
    • 13.1.6 Parts identification

      311
    • 13.1.7 Removal and reinstallation of the terminal block cover

      314
    • 13.1.8 Servo system with auxiliary equipment

      320
  • 13.2 Installation

    321
    • 13.2.1 Installation direction and clearances

      322
    • 13.2.2 Inspection

      323
  • 13.3 Signals and wiring

    324
    • 13.3.1 Magnetic contactor control connector (CNP1)

      325
    • 13.3.2 Input power supply circuit

      327
    • 13.3.3 Terminal

      332
    • 13.3.4 How to use the connection bars

      333
    • 13.3.5 Connectors and signal arrangements

      334
    • 13.3.6 Converter unit signal (device) explanations

      336
    • 13.3.7 Timing chart

      338
    • 13.3.8 Servo motor side details

      348
  • 13.4 Display section and operation section of the converter unit

    350
    • 13.4.1 Display flowchart

      350
    • 13.4.2 Status display mode

      351
    • 13.4.3 Diagnostic mode

      352
    • 13.4.4 Alarm mode

      354
    • 13.4.5 Parameter mode

      355
  • 13.5. Parameters for converter unit

    356
    • 13.5.1 Parameter list

      356
    • 13.5.2 List of details

      357
  • 13.6 Troubleshooting

    358
    • 13.6.1 Converter unit

      358
    • 13.6.2 Drive unit

      363
  • 13.7 Outline drawings

    365
    • 13.7.1 Converter unit (MR-J3-CR55K(4))

      365
    • 13.7.2 Drive unit

      366
  • 13.8 Characteristics

    368
    • 13.8.1 Overload protection characteristics

      368
    • 13.8.2 Power supply equipment capacity and generated loss

      369
    • 13.8.3 Dynamic brake characteristics

      370
    • 13.8.4 Inrush currents at power-on of main circuit and control circuit

      373
  • 13.9 Options

    373
    • 13.9.1 Cables and connectors

      373
    • 13.9.2 Regenerative option

      376
    • 13.9.3 External dynamic brake

      380
    • 13.9.4 Selection example of wires

      383
    • 13.9.5 No-fuse breakers, fuses, magnetic contactors.

      385
    • 13.9.6 Power factor improving DC reactor

      385
    • 13.9.7 Line noise filter (FR-BLF)

      386
    • 13.9.8 Leakage current breaker

      387
    • 13.9.9 EMC filter (recommended)

      389
    • 13.9.10 FR-BU2-(H) Brake Unit

      391
• APPENDIX

  404
  • App. 1 Parameter list

    404
  • App. 2 Signal layout recording paper

    406
  • App. 3 Twin type connector : Outline drawing for 721-2105/026-000(WAGO)

    406
  • App. 4 Change of connector sets to the RoHS compatible products

    407
  • App. 5 MR-J3-200B-RT servo amplifier

    408
  • App. 6 Selection example of servo motor power cable

    412
• REVISIONS

  413