ユーザーズマニュアル目次Safety Instructions2DISPOSAL OF WASTE7Compliance with global standards7About the manual7Cables used for wiring8U.S. customary units8CONTENTS101. FUNCTIONS AND CONFIGURATION161.1 Summary161.2 Function block diagram171.3 Servo amplifier standard specifications191.4 Combinations of servo amplifiers, servo motors, and controllers201.4.1 Combinations of servo amplifiers and servo motors201.4.2 Compatible controller201.5 Function list211.6 Model designation231.7 Structure241.7.1 Parts identification241.8 Configuration including peripheral equipment262. INSTALLATION282.1 Installation direction and clearances292.2 Keep out foreign materials302.3 Encoder cable stress312.4 SSCNET III cable laying312.5 Inspection items332.6 Parts having service lives343. SIGNALS AND WIRING363.1 Input power supply circuit373.2 I/O signal connection example463.2.1 For sink I/O interface463.2.2 For source I/O interface473.3 Explanation of power supply system483.3.1 Signal explanations483.3.2 Power-on sequence493.3.3 Wiring CNP1 and CNP2503.4 Connectors and pin assignment523.5 Signal (device) explanations533.5.1 Input device533.5.2 Output device543.5.3 Power supply553.6 Forced stop deceleration function563.6.1 Forced stop deceleration function563.6.2 Base circuit shut-off delay time function573.6.3 Vertical axis freefall prevention function583.6.4 Residual risks of the forced stop function (EM2)583.7 Alarm occurrence timing chart593.7.1 When you use the forced stop deceleration function593.7.2 When you do not use the forced stop deceleration function603.7.3 Hot line forced stop function613.8 Interfaces673.8.1 Internal connection diagram673.8.2 Detailed explanation of interfaces683.8.3 Source I/O interfaces693.9 SSCNET III cable connection703.10 Servo motor with an electromagnetic brake723.10.1 Safety precautions723.10.2 Timing chart733.11 Grounding764. STARTUP784.1 Switching power on for the first time784.1.1 Startup procedure784.1.2 Wiring check794.1.3 Surrounding environment804.2 Startup814.3 Switch setting and display of the servo amplifier824.3.1 Axis selection rotary switch (SW1)824.3.2 Scrolling display844.3.3 Status display of an axis854.4 Test operation874.5 Test operation mode874.5.1 Test operation mode in MR Configurator2884.5.2 Motor-less operation in the controller905. PARAMETERS925.1 Parameter list925.1.1 Basic setting parameters ([Pr. PA_ _ ])935.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])945.1.3 Extension setting parameters ([Pr. PC_ _ ])955.1.4 I/O setting parameters ([Pr. PD_ _ ])975.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])985.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])995.2 Detailed list of parameters1015.2.1 Basic setting parameters ([Pr. PA_ _ ])1015.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])1095.2.3 Extension setting parameters ([Pr. PC_ _ ])1215.2.4 I/O setting parameters ([Pr. PD_ _ ])1245.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])1275.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])1286. NORMAL GAIN ADJUSTMENT1306.1 Different adjustment methods1306.1.1 Adjustment on a single servo amplifier1306.1.2 Adjustment using MR Configurator21316.2 One-touch tuning1326.2.1 One-touch tuning flowchart1336.2.2 Display transition and operation procedure of one-touch tuning1346.2.3 Caution for one-touch tuning1376.3 Auto tuning1386.3.1 Auto tuning mode1386.3.2 Auto tuning mode basis1396.3.3 Adjustment procedure by auto tuning1406.3.4 Response level setting in auto tuning mode1416.4 Manual mode1426.5 2 Gain adjustment mode1457. SPECIAL ADJUSTMENT FUNCTIONS1487.1 Filter setting1487.1.1 Machine resonance suppression filter1487.1.2 Adaptive filter II1517.1.3 Shaft resonance suppression filter1537.1.4 Low-pass filter1547.1.5 Advanced vibration suppression control II1547.1.6 Command notch filter1587.2 Gain switching function1607.2.1 Applications1607.2.2 Function block diagram1617.2.3 Parameter1627.2.4 Gain switching procedure1657.3 Tough drive function1697.3.1 Vibration tough drive function1697.3.2 Instantaneous power failure tough drive function1717.4 Model adaptive control disabled1737.5 Lost motion compensation function1748. TROUBLESHOOTING1788.1 Explanation for the lists1788.2 Alarm list1798.3 Warning list1829. DIMENSIONS1849.1 Servo amplifier1849.2 Connector18710. CHARACTERISTICS18810.1 Overload protection characteristics18810.2 Power supply capacity and generated loss19010.3 Dynamic brake characteristics19210.3.1 Dynamic brake operation19210.3.2 Permissible load to motor inertia when the dynamic brake is used19310.4 Cable bending life19410.5 Inrush current at power-on19411. OPTIONS AND PERIPHERAL EQUIPMENT19611.1 Cable/connector sets19611.1.1 Combinations of cable/connector sets19711.1.2 SSCNET III cable20011.1.3 Battery cable and junction battery cable20211.2 Regenerative option20311.2.1 Combination and regenerative power20311.2.2 Selection of regenerative option20411.2.3 Parameter setting20511.2.4 Connection of regenerative option20611.2.5 Dimensions21011.3 Junction terminal block PS7DW-20V14B-F (recommended)21211.4 MR Configurator221311.4.1 Specifications21311.4.2 System requirements21411.4.3 Precautions for using USB communication function21511.5 Battery21611.5.1 Selection of battery21611.5.2 MR-BAT6V1SET-A battery21711.5.3 MR-BT6VCASE battery case22111.5.4 MR-BAT6V1 battery22711.6 Selection example of wires22811.7 Molded-case circuit breakers, fuses, magnetic contactors22911.8 Power factor improving AC reactor23011.9 Relay (recommended)23111.10 Noise reduction techniques23211.11 Earth-leakage current breaker23811.12 EMC filter (recommended)24012. ABSOLUTE POSITION DETECTION SYSTEM24412.1 Summary24412.1.1 Features24412.1.2 Configuration24512.1.3 Parameter setting24512.1.4 Confirmation of absolute position detection data24512.2 Battery24612.2.1 Using the MR-BAT6V1SET-A battery24612.2.2 Using the MR-BT6VCASE battery case247APPENDIX248App. 1 Peripheral equipment manufacturer (for reference)248App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods248App. 3 Symbol for the new EU Battery Directive250App. 4 Compliance with global standards250App. 5 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service262App. 6 Low-voltage directive263App. 7 When turning on or off the input power supply with DC power supply264App. 8 When using the hot line forced stop function in combination with MR-J4-_B servo amplifier265REVISION266Country/Region267Warranty268サイズ: 2.45MBページ数: 270Language: Englishマニュアルを開く