General-Purpose AC Servo SSCNET J3 Series Interface Direct Drive Servo MODEL (Servo Amplifier) J3 Series SSCNET MR-J3-B-RJ080 INSTRUCTION MANUAL MODEL CODE 1CW601 HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030079-A (1211) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.
Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, MR-J3- B Servo amplifier Instruction Manual, and appended documents carefully. Do not use the servo amplifier and direct drive motor until you have a full knowledge of the equipment, safety information and instructions.
1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. Connect the servo amplifier and direct drive motor to ground.
3. To prevent injury, note the following CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The servo amplifier heat sink, regenerative resistor, direct drive motor, etc. may be hot while power is on or for some time after power-off. Take safety measures, e.g.
CAUTION Do not subject the rotor of the direct drive motor to more than the permissible load. Otherwise, the rotor may break. When the equipment has been stored for an extended period of time, contact your local sales office. When you keep or use it, please fulfill the following environment.
CAUTION Connect the servo amplifier power supply output (U, V, and W) to the direct drive motor power supply input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Servo amplifier U V W Direct drive motor U V Servo amplifier U V V M W Direct drive motor U M W W Do not connect AC power directly to the direct drive motor. Otherwise, it may cause a malfunction.
(5) Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a direct drive motor with an external brake mechanism for the purpose of prevention. When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Design the machine in order to avoid sudden restarting in case of after an instantaneous power failure.
DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may fail when the EEP-ROM reaches the end of its useful life.
Relevant manuals Manual name Manual No. MELSERVO-J3 Series Instructions and Cautions for Safe Use of AC Servos IB(NA)0300077 MELSERVO-J3 Series MR-J3- B Servo Amplifier Instruction Manual SH(NA)030051 This Instruction Manual describes the functions unique to the SSCNET Interface Direct Drive Servo. Therefore, when using the MR-J3- B-RJ080W, refer to the SSCNET Interface MR-J3- B Servo Amplifier Instruction Manual as well. However, the following items are not described in this Instruction Manual.
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -12 1.1 Summary .................................................................................................................................................. 1 - 1 1.2 Servo amplifier standard specifications................................................................................................... 1 - 3 1.3 Function list ..........................................................................................................................
4. OPERATION AND FUNCTIONS 4 - 1 to 4 -18 4.1 Startup ...................................................................................................................................................... 4 - 1 4.2 Magnetic pole detection ........................................................................................................................... 4 - 2 4.2.1 Preparation for the magnetic pole detection ....................................................................................
9.1.1 Combinations of cable and connector set ........................................................................................ 9 - 2 9.1.2 Encoder connector set ...................................................................................................................... 9 - 4 9.2 Absolute position storage unit MR-BTAS01........................................................................................... 9 -10 APPENDIX App.- 1 to App.- 8 App. 1 Parameter list.........................
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1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Summary To meet high-accuracy and high-efficiency requirements in areas including semiconductor and liquid crystal related machines, and surface mount device placement machines, a system with a direct drive motor in a drive axis has been increased. The direct drive servo system includes the following features.
1. FUNCTIONS AND CONFIGURATION Differences Classification Item Direct drive servo (MR-J3- B-RJ080W) MR-J3- B Remarks Required (when magnetic pole is detected) Not required Automatically turns on in the parameter setting. Motor pole adjustment Magnetic pole detection operation Required Not required (adjusted at shipment) Automatically executed at the first servo-on after turning the power on.
1. FUNCTIONS AND CONFIGURATION 1.2 Servo amplifier standard specifications Servo amplifier MR-J3- -RJ080W 20B 40B 60B 1.5 2.8 3.2 70B 100B 350B 500B 6.0 17.0 28.0 Main circuit power supply Output Item Rated voltage 3-phase 170VAC Rated current [A] Voltage/frequency 5.8 3-phase or 1-phase 200 to 230VAC, 50/60Hz Rated current [A] 1.5 Permissible voltage fluctuation 2.6 3.2 3.8 16.0 21.7 3-phase 170 to 253VAC Within 5 Power supply capacity Refer to section 2.5.
1. FUNCTIONS AND CONFIGURATION 1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference Absolute position detection system Merely setting a home position once makes home position return unnecessary at every power-on. A battery (MR-J3BAT) and an absolute position storage unit (MR-BTAS01) are required.
1. FUNCTIONS AND CONFIGURATION 1.4 Model code definition (1) Rating plate MODEL AC SERVO DATE: 2012-11 The year and month of manufacture Model Capacity Applicable power supply Rated output current Serial number MR-J3-20B-RJ080W POWER : 200W INPUT : 1.5A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz 2.2A 1PH200-230V 50Hz/60Hz OUTPUT : 170V 0-360Hz 1.
1. FUNCTIONS AND CONFIGURATION 1.6 Parts identification (1) MR-J3-100B-RJ080W or less ON 4E 2 BCDE 2 A 1 Rotary axis setting switch (SW1) SW1 Used to set the axis No. of servo amplifier. 789 3456 F01 2 B CDE SW1 TEST SW2 789 Detailed explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. A 34 56 Name/Application Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator.
1. FUNCTIONS AND CONFIGURATION (2) MR-J3-350B-RJ080W Name/Application Detailed explanation 34 56 0 F 1 2 F01 SW1 TEST SW2 ON 4E 1 B CDE B C DE 2 A 789 Rotary axis setting switch (SW1) SW1 Used to set the axis No. of servo amplifier. 789 A 3456 Display The 3-digit, seven-segment LED shows the servo status and alarm number. Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator.
1. FUNCTIONS AND CONFIGURATION (3) MR-J3-500B-RJ080W POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2 of the MR-J3- B Servo Amplifier Instruction Manual. Name/Application Detailed explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. 0 F 1 3456 2 B CDE 2 F01 A SW1 TEST SW2 789 ON 4E 1 BCDE 3456 A Rotary axis setting switch (SW1) SW1 Used to set the axis No. of servo amplifier.
1. FUNCTIONS AND CONFIGURATION 1.7 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and direct drive motor are optional or recommended products.
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2. DIRECT DRIVE MOTOR 2. DIRECT DRIVE MOTOR 2.1 Rating plate AC DIRECT DRIVE MOTOR TM-RFM002C20 INPUT 3AC 45.7V 1.2A TORQUE 2Nm 200r/min IP42CI.F 5.2kg SER.No. 000000 12Y Model Input power supply Rated output Rated speed, IP rating, Insulation class, Mass Serial number (Note) Country of origin Note. Production year and month of the direct drive motor are indicated in a serial number on the rating plate.
2. DIRECT DRIVE MOTOR 2.3 Installation WARNING To prevent electric shock, ground each equipment securely. CAUTION Stacking in excess of the limited number of product packages is not allowed. Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury.
2. DIRECT DRIVE MOTOR 2.3.1 Equipment configuration This section explains the system configuration with a direct drive motor. Note the following points when using a direct drive motor. (1) Minimum oscillation angle If the direct drive motor rotates repeatedly by a small angle (by 70° or less), make the direct drive motor rotate by 90° or more at least once a day in order to keep the bearing lubricated.
2. DIRECT DRIVE MOTOR 2.3.2 Installation orientation The following table indicates the installation orientation of the direct drive motor. Direct drive motor series Direction of installation TM-RFM May be installed in any direction. 2.3.3 Load remove precautions POINT During assembling, the rotor end must not be hammered. Doing so can cause the encoder to fail. (1) The orientation of the encoder on the direct drive motor cannot be changed.
2. DIRECT DRIVE MOTOR 2.3.5 Protection from oil and water Provide adequate protection to prevent foreign matter, such as oil and water from entering the direct drive motor rotor. When installing the direct drive motor, consider the items in this section. (1) Do not use the direct drive motor with its cable soaked in oil or water.
2. DIRECT DRIVE MOTOR 2.3.6 Inspection WARNING Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. To avoid the risk of electric shock, only qualified personnel should attempt inspections.
2. DIRECT DRIVE MOTOR 2.3.8 Machine accuracies The following table indicates the machine accuracies of the direct drive motor around the rotor (output shaft) and mounting. (except the optional products) Item Measured part Accuracy [mm] Runout of flange surface about rotor (output shaft) a 0.05 Runout of fitting outer diameter of flange surface b 0.07 Runout of rotor (output shaft) c 0.04 Runout of rotor (output shaft) end d 0.02 Reference diagram 2.3.
2. DIRECT DRIVE MOTOR 2.4 Connectors used for direct drive motor wiring POINT The IP rating indicated is the connector's protection against ingress of dust and water when the connector is connected to a servo amplifier, direct drive motor and absolute position storage unit. If the IP rating of the connector, servo amplifier, direct drive motor and absolute position storage unit vary, the overall IP rating depends on the lowest IP rating of all components. 2.4.
2. DIRECT DRIVE MOTOR 2.4.2 Wiring connectors (Connector configurations A B C D E F) Cord clamp Plug Plug (Hirose Electric) Connector configuration A Feature IP67 Type Straight Plug Recommended cable (Bando Densen) Cord clamp RM15WTPZK-12S JR13WCCA-8(72) Overall diameter of cable [mm] (Reference) Model name 20276 VSVPAWG#23×6P KB-0492 (Note 2) 8.2 Direct drive motor encoder connector or absolute position storage unit connector (servo amplifier side) (Note 1) RM15WTRZB-12P(72) Note 1.
2. DIRECT DRIVE MOTOR Plug Cable clamp Plug (DDK) Connector configuration D Feature Type IP67 EN compliant Model name Straight General environment (Note 1) Cable clamp (DDK) Overall diameter of cable [mm] (Reference) Model name CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8 9.5 to 13 CE3057-12A-2-D 12.5 to 16 CE3057-12A-1-D D/MS3106B22-22S Applicable wire size: AWG 10 to 8 15.
2. DIRECT DRIVE MOTOR 2.4.3 Connector outline drawings The connector outline drawings for wiring the direct drive motor are shown below. (1) Hirose Electric (a) RM15WTPZK-12S RM15WTPZ-12P(72) Model Connector configuration (Note) RM15WTPZK-12S A RM15WTPZ-12P(72) F Note. For the connector configuration, refer to section 2.4.2. [Unit: mm] Spanner hook gap dimension: 18 M19 1 M16 0.75 36.3 (b) JR13WCCA-8(72) For the connector configuration, refer to the connector configuration A and F of section 2.4.
2. DIRECT DRIVE MOTOR (b) CE05-6A18-10SD-D-BSS CE05-6A22-22SD-D-BSS CE05-6A32-17SD-D-BSS [Unit: mm] A D D or less W W Positioning key Model A B 0 0.38 C 0.8 Connector configuration (Note) CE05-6A18-10SD-D-BSS 1 1/8-18UNEF-2B 34.13 32.1 57 1-20UNEF-2A C CE05-6A22-22SD-D-BSS 1 3/8-18UNEF-2B 40.48 38.3 61 1 3/16-18UNEF-2A D CE05-6A32-17SD-D-BSS 2-18UNS-2B 56.33 54.2 79 1 3/4-18UNS-2A E Note. For the connector configuration, refer to section 2.4.2.
2. DIRECT DRIVE MOTOR (d) D/MS3106B14S-2S D/MS3106B18-10S D/MS3106B22-22S D/MS3106B32-17S [Unit: mm] L or less W J 0.12 Q Y or less A V Model name A D/MS3106B14S-2S D/MS3106B18-10S D/MS3106B22-22S D/MS3106B32-17S 7/8-20UNEF 1 1/8-18UNEF 1 3/8-18UNEF 2-18UNS J L Q V 13.49 18.26 18.26 18.26 42.88 52.37 56.57 61.92 28.57 34.13 40.48 56.33 3/4-20UNEF 1-20UNEF 1 3/16-18UNEF 1 3/4-18UNS W Y Connector configuration (Note) 8.00 9.53 9.53 11.13 30 42 50 66 B C D E Note.
2. DIRECT DRIVE MOTOR (3) Daiwa Dengyo [Unit: mm] Hexagonal width across flats D2 A Hexagonal width across corners D3 Hexagonal width across flats D Hexagonal width across corners D1 O-ring L Model name Applicable cable OD YSO14-5 to 8 YSO14-9 to 11 4 to 8.3 7 to 11.3 A Length before tightening L Width across flats D Width across corners D1 Width across flats D2 3/4-20UNEF-2B 44 23 25 26 Width Connector across configuration corners (Note) D3 28 B Note.
2. DIRECT DRIVE MOTOR 2.5 TM-RFM series direct drive motor This section provides information on the specifications and characteristics of the direct drive motor. When using the TM-RFM series direct drive motor, always read the Safety Instructions in the beginning of this manual in addition to this section. 2.5.1 Model code definition The following describes what each block of a model name indicates. Note that not all the combinations of the symbols exist.
2. DIRECT DRIVE MOTOR 2.5.
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2. DIRECT DRIVE MOTOR Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load inertia moment ratio exceeds the indicated value, please contact your local sales office. 3. Note that the power supply equipment capacity will vary according to the power supply impedance. This value assumes that the power factor improving AC reactor or the power factor improving DC reactor is not used. 4.
2. DIRECT DRIVE MOTOR 2.5.3 Torque characteristic POINT When using a machine which generates unbalanced torque including a vertical axis, use an absolute position detection system (Rrefer to section 2.3.1 (4)). It is recommended that the unbalanced torque is 70% or less of the rated torque. When the power supply input of the servo amplifier are 3-phase 200VAC or 1-phase 230VAC, the torque characteristic is indicated by the heavy line.
2. DIRECT DRIVE MOTOR 2.5.4 Outline dimension drawings The actual dimensions may be 1mm to 3mm larger. Design the machine side with some allowances. Apply general tolerances for the dimensions without tolerances. Model Output [W] Inertia moment J [ 10-4kg m2] (WK2 [oz in2]) Mass [kg] ([lb]) TM-RFM002C20 42 10.9 (59.6) 5.
2. DIRECT DRIVE MOTOR Model Output [W] Inertia moment J [ 10-4kg m2] (WK2 [oz in2]) Mass [kg] ([lb]) TM-RFM004C20 84 16.6 (90.8) 6.
2. DIRECT DRIVE MOTOR Model Output [W] Inertia moment J [ 10-4kg m2] (WK2 [oz in2]) Mass [kg] ([lb]) TM-RFM006C20 126 22.4 (122) 8.
2. DIRECT DRIVE MOTOR Model Output [W] Inertia moment J [ 10-4kg m2] (WK2 [oz in2]) Mass [kg] ([lb]) TM-RFM006E20 126 74.
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2. DIRECT DRIVE MOTOR Model Output [W] Inertia moment J [ 10-4kg m2] (WK2 [oz in2]) Mass [kg] ([lb]) TM-RFM012G20 251 238 (1300) 17 (38) [Unit: mm] 4- 14 mounting hole Use hexagon socket head cap screw 6-M6 screw depth 10 2 2-M10 screw depth 19.
2. DIRECT DRIVE MOTOR Model Output [W] Inertia moment J [ 10-4kg m2] (WK2 [oz in2]) Mass [kg] ([lb]) TM-RFM048G20 1005 615 (3360) 36 (80) [Unit: mm] 4- 14 mounting hole Use hexagon socket head cap screw 2 2-M10 screw depth 19.
2. DIRECT DRIVE MOTOR Model Output [W] Inertia moment J [ 10-4kg m2] (WK2 [oz in2]) Mass [kg] ([lb]) TM-RFM072G20 1508 875 (4780) 52 (115) [Unit: mm] 6-M6 screw depth 10 4- 14 mounting hole Use hexagon socket head cap screw 2 2-M10 screw depth 19.
2. DIRECT DRIVE MOTOR Model Output [W] Inertia moment J [ 10-4kg m2] (WK2 [oz in2]) Mass [kg] ([lb]) TM-RFM040J10 838 1694 (9260) 53 (120) [Unit: mm] 4- 18 mounting hole Use hexagon socket head cap screw 2 2-M12 screw depth 25.
2. DIRECT DRIVE MOTOR Model Output [W] Inertia moment J [ 10-4kg m2] (WK2 [oz in2]) Mass [kg] ([lb]) TM-RFM120J10 2513 3519 (19200) 91 (205) [Unit: mm] 2 2-M12 screw depth 25.
2. DIRECT DRIVE MOTOR Model Output [W] Inertia moment J [ 10-4kg m2] (WK2 [oz in2]) Mass [kg] ([lb]) TM-RFM240J10 5027 6303 (34500) 146 (325) [Unit: mm] 4- 18 mounting hole Use hexagon socket head cap screw 2 2-M12 screw depth 25.
2. DIRECT DRIVE MOTOR 2.5.5 Connection of servo amplifier and direct drive motor WARNING CAUTION Any person who is involved in wiring should be fully competent to do the work. Ground the direct drive motor securely. Do not attempt to wire the direct drive motor until it has been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.
2. DIRECT DRIVE MOTOR (1) Connection instructions CAUTION To avoid a malfunction, connect the power supply phases (U, V, and W) of the servo amplifier and the direct drive motor correctly. Do not connect AC power supply directly to the direct drive motor. Otherwise, it may cause a malfunction. POINT Refer to chapter 9 for the encoder cable. This section explains the connection of the direct drive motor power (U, V, and W).
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3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
3. SIGNALS AND WIRING 3.1 Precautions for this chapter The following items are not described in this chapter. Since these descriptions are the same as those of MRJ3- B Servo Amplifier, refer to the MR-J3- B Servo Amplifier Instruction Manual. Item MR-J3- B Servo Amplifier Instruction Manual Explanation of power supply system Section 3.3 Signal (device) explanations Section 3.5 Alarm occurrence timing chart Section 3.6 Interfaces Section 3.
3. SIGNALS AND WIRING 3.2.1 Selection example of wires POINT Selection condition of wire size is as follows. Construction condition: One wire is constructed in the air Wire length: 30m or less (1) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below. Table 3.
3. SIGNALS AND WIRING 3.2.
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3. SIGNALS AND WIRING (3) MR-J3-500B-RJ080W (Note 3) (Note 6) Malfunction Forced stop OFF RA1 RA2 Controller forced stop MCCB 3-phase 200 to 230VAC ON MC MC Servo amplifier MC (Note 8) TE1 L1 Built-in L2 U regenerative resistor V L3 (Note 2) P SK Direct drive motor (Note 5) U V W W Motor M C TE2 PE L11 L21 TE3 N (Note 1) (Note 7) CN2 P1 Encoder cable Encoder P2 (Note 4) Forced stop (Note 6) CN3 CN3 EM1 DOCOM DOCOM DICOM ALM 24VDC RA1 Malfunction (Note 4) (Note 3) Note 1.
3. SIGNALS AND WIRING 3.3 I/O signal connection example POINT For details of each signal, refer to chapter 3 of the MR-J3- B Servo Amplifier Instruction Manual.
3. SIGNALS AND WIRING Note 1 To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop (EM1) and other protective circuits. 3.
3. SIGNALS AND WIRING 3.4 Connector and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. The servo amplifier front view shown is for MR-J3-20B-RJ080W or less. For the appearances and connector layouts of other servo amplifiers, refer to chapter 7 SERVO AMPLIFIER OUTLINE DRAWINGS. CN5 (USB connector) Refer to section 11.8 of the MR-J3- B Servo Amplifier Instruction Manual.
3. SIGNALS AND WIRING 3.5 Internal connection diagram 3.5.1 Incremental system Servo amplifier CN3 Forced stop (Note 2) (Note 1) 24VDC EM1 20 DI1 2 DI2 12 DI3 19 DICOM 5 DOCOM 3 Approx. 5.6k CN3 10 DICOM Approx. 5.
3. SIGNALS AND WIRING 3.5.2 Absolute position detection system Servo amplifier CN3 Forced stop EM1 (Note 2) (Note 1) 24VDC 20 DI1 2 DI2 12 DI3 19 DICOM 5 DOCOM 3 Approx. 5.6k CN3 10 DICOM 13 MBR Approx. 5.
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4. OPERATION AND FUNCTIONS 4. OPERATION AND FUNCTIONS 4.1 Startup Start up the direct drive servo referring to the following procedure. Perform this procedure once at startup Execution of installation and wiring Incremental system Absolute position detection system? Absolute position detection system Can you manually turn on the Z-phase pulse of the direct drive motor? Yes No (Note 1) Execution of the magnetic pole detection (Refer to section 4.
4. OPERATION AND FUNCTIONS 4.2 Magnetic pole detection POINT Magnetic pole detection is not required for the configured absolute position detection system where the Z-phase pulse can be turned on manually. For this operation, always connect the direct drive motor encoder and the servo amplifier and turn on the control circuit power supply of the servo amplifier. Perform this operation by considering the safety.
4. OPERATION AND FUNCTIONS 4.2.2 Driving when magnetic pole is detected WARNING Note that the magnetic pole detection is automatically started simultaneously with turning on the servo-on command. CAUTION If the magnetic pole detection is not executed properly, the direct drive motor may run unexpectedly. POINT Establish the machine configuration using the stroke limits (FLS and RLS). If the stroke limits (FLS and RLS) do not exist, it may cause the machine damage by a collision.
4. OPERATION AND FUNCTIONS (1) For the incremental system For the incremental system, the magnetic pole detection is required every time the power is turned on. By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set the parameters (first digit of parameter No. PS01) for executing the magnetic pole detection.
4. OPERATION AND FUNCTIONS (2) For the absolute position detection system POINT Be sure to turn on the Z-phase pulse in JOG operation after the magnetic pole detection. Carry out the magnetic pole detection referring the following procedure. (a) Set the parameter No.PS01 (Special function selection 1) to " valid)". 1 (Magnetic pole detection always Parameter No.PS01 1 Magnetic pole detection always valid (initial value) (b) Execute the magnetic pole detection.
4. OPERATION AND FUNCTIONS 4.2.3 Magnetic pole detection method setting Set a magnetic pole detection method to the 1st digit (method selection for the magnetic pole detection) of parameter No.PS08. Parameter No.PS08 Method selection for the magnetic pole detection 0: Position detection method 4: Minute position detection method 4.2.4 Setting the magnetic pole detection voltage level of the position detection method Set the voltage level in parameter No.
4. OPERATION AND FUNCTIONS (3) Setting example Magnetic pole detection Parameter No.PS09 setting value Overload and overcurrent alarm 30 35 40 45 65 70 Existence or nonexistence Carry out the magnetic pole detection repeatedly while making the setting value of the parameter No.PS09 larger. An alarm has occurred when the setting value of the parameter No.PS09 is set to 70. Here, the final setting value of the parameter No.
4. OPERATION AND FUNCTIONS 4.2.5 Magnetic pole detection method using MR Configurator The following shows the procedure of the magnetic pole detection using MR Configurator. (1) Magnetic pole detection using position detection method Magnetic pole detection 1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are on, turn the power of servo amplifier off once and then turn it on again.
4. OPERATION AND FUNCTIONS (2) Magnetic pole detection using minute position detection method Magnetic pole detection 1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are on, turn the power of servo amplifier off once and then turn it on again. 2) After switching the test operation select switch (SW2-1) of the servo amplifier to "Up", turn the power of servo amplifier off once and then turn it on again. 3) Set parameter No.
4. OPERATION AND FUNCTIONS (3) Transition of the servo amplifier display (3-digit 7-segment LED) when detecting magnetic poles The servo amplifier display (3-digit 7-segment LED) shifts as shown below when the magnetic poles are detected properly using MR Configurator. Servo-off status Detecting magnetic poles Magnetic pole detection completed (servo-on status) Decimal point flickers. 4.
4. OPERATION AND FUNCTIONS 4.3.2 Servo system controller setting (1) Setting instructions When using the direct drive servo, set it as described in this section. For other servo parameters and positioning control parameters, set them in the same method as that of MR-J3- B servo amplifier. The following servo parameters will be valid by turning the power of servo amplifier off once and then turning it on again after writing to the servo amplifier from the controller.
4. OPERATION AND FUNCTIONS (2) Sequence program example of servo parameters on the positioning module POINT For QD74MH /QD75MH , the parameter error (37) will occur if servo parameters are not initialized. The number of write time to the flash ROM is limited to 100,000. For this reason, try to write to the flash ROM only when changing the servo parameter instead of writing with every sequence program. When controlling multiple axes, write the servo parameters to all axes.
4. OPERATION AND FUNCTIONS (a) Sequence program example when QD74MH is used The following shows the example of writing the axis No.1 servo parameter to the flash ROM. After changing the servo parameter, turn on the power of QD74MH again or reset the CPU, then send the setting value to the servo amplifier. Refer to the Type QD74MH Positioning Module User’s Manual (Details) (IB(NA)0300147) for the buffer memory address of the special setting parameters (No.PS ) of the 2nd to 16th axis servo parameters.
4. OPERATION AND FUNCTIONS (b) Sequence program example when QD75MH is used The following shows the example of writing the axis No.1 servo parameter to the flash ROM. After changing the servo parameter, turn on the power of QD75MH again or reset the CPU, then send the setting value to the servo amplifier. Refer to (3) in this section for the special setting parameter (No. PS ) address of servo parameter. (Note 1) Write condition TOP H0 K30101 H0060 K1 Setting of the servo parameter No.
4. OPERATION AND FUNCTIONS (3) QD75MH buffer memory address of special setting parameter (No.PS Description ) Buffer memory address No.
4. OPERATION AND FUNCTIONS 4.4 Servo control error detection function POINT For the servo control error detection function, the position and speed deviation error detections are enabled as factory-set. (Parameter No.PS04: 3) If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. The protective function for detecting this before happens and stopping the operation is the servo control error detection function.
4. OPERATION AND FUNCTIONS (2) Speed deviation error detection Set the parameter No.PS04 to " 2" to make the speed deviation error detection enabled. Parameter No.PS04 2 Speed deviation error detection valid If there is a deviation larger than the setting value (1 to 2000r/min) of the parameter No.PS06 (Servo control speed deviation error detection level) after comparing the model feedback speed 3) and the feedback speed 4) in Figure 4.
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5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation instable. If fixed values are written in the digits of a parameter, do not change these values. CAUTION POINT When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Cycling the power disables the values set in MR Configurator and enables the values set in servo system controller.
5. PARAMETERS Basic setting parameters No.PA Parameter No.PA19 setting Setting operation 000Dh (initial value) Reference Gain/filter parameters No.PB Extension setting parameters No.PC I/O setting parameters No.PD Special setting parameters No.PS Write Reference 100Bh Parameter No.PA19 only Write Reference 100Dh Parameter No.PA19 only Write 5.2 Basic setting parameters (No.PA ) 5.2.
5. PARAMETERS Classification No. Basic setting parameter 5.2.2 List of details PA01 PA03 Symbol Initial value Name and function For manufacturer setting Do not change this value by any means. *ABS Unit Setting range 0060h Absolute position detection system 0000h Set this parameter when using the absolute position detection system in the position control mode.
Classification No. Symbol Basic setting parameter 5. PARAMETERS PA19 *BLK Initial value Name and function Parameter write inhibit Setting Operation 0000h 000Bh 000Ch 000Dh 000Dh Applicable parameters No.PA No.PB Reference Write Reference Write Reference Write Reference Write Reference 100Bh Write Parameter No.PA19 only Reference 100Dh Write Parameter No.PA19 only 5- 4 No.PC No.PD No.
5. PARAMETERS 5.3 Gain/Filter parameters (No.PB ) 5.3.1 Parameter list POINT For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3- B Servo Amplifier Instruction Manual section 5.2. The parameter whose symbol preceded by * can be validated with the following conditions. * : Turn off the power and then on again, or reset the controller after setting the parameter. Never change the parameters for the manufacturer setting. No.
5. PARAMETERS 5.4 Extension setting parameters (No.PC ) 5.4.1 Parameter list POINT For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3- B Servo Amplifier Instruction Manual section 5.3. The parameter whose symbol preceded by * can be validated with the following conditions. * : Turn off the power and then on again, or reset the controller after setting the parameter. Never change the parameters for the manufacturer setting. No.
5. PARAMETERS 5.5 I/O setting parameters (No.PD ) 5.5.1 Parameter list POINT For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3- B Servo Amplifier Instruction Manual section 5.4. The parameter whose symbol preceded by * can be validated with the following conditions. * : Turn off the power and then on again, or reset the controller after setting the parameter. Never change the parameters for the manufacturer setting. No.
5. PARAMETERS 5.6 Special setting parameters (No.PS ) 5.6.1 Parameter list POINT The parameter whose symbol preceded by * can be validated with the following conditions. * : Turn off the power and then on again, or reset the controller after setting the parameter. ** : Turn off the power and then on again after setting the parameter. Never change the parameters for the manufacturer setting. No.
5. PARAMETERS Classification No. Symbol Special setting parameters 5.6.2 List of details PS01 *LIT1 Name and function Initial value Unit Special function selection 1 0001h The magnetic pole detection setting, the valid/invalid setting of the direct drive motor thermistor can be selected. (Refer to section 4.2) Direct drive motor magnetic pole detection setting is unnecessary for an incremental system.
5. PARAMETERS Unit Setting range Servo control speed deviation error detection level Used to set the speed deviation error detection level of the servo control error detection. When the difference between the model feedback speed and the feedback speed is bigger than this setting value, the servo control error is detected (42). (Refer to section 4.
Classification No. Special setting parameters 5. PARAMETERS PS17 Symbol Initial value Name and function LTSTS Minute position detection method function selection Used to set the response and the load to motor inertia moment ratio of the minute position detection method. To make the parameter valid, set parameter No.PS08 (Special function 4" (minute position detection method). (Refer to selection 3) to " section 4.2.
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6. TROUBLESHOOTING 6. TROUBLESHOOTING POINT Alarms and warnings are basically the same as those of MR-J3- B servo amplifier. This chapter describes the contents different from those of MR-J3- B servo amplifier. As soon as an alarm occurs, make the servo-off status and interrupt the main circuit power. If an alarm has occurred, refer to this chapter and remove its cause. 6.1 Alarms and warning list Alarms When a fault occurs during operation, the corresponding alarm or warning is displayed.
6. TROUBLESHOOTING 6.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase (25) occurred, always make home position setting again. Otherwise, it may cause an unexpected operation. As soon as an alarm occurs, make servo-off and power off the main circuit and control circuit.
6. TROUBLESHOOTING Display Name Definition Cause Wrong combination of servo amplifier and encoder. Action Use correct combination. 1F Encoder combination error Wrong combination of servo amplifier and encoder. 20 Encoder error 2 Refer to chapter 8 of the MR-J3- B Servo Amplifier Instruction Manual. 21 Encoder error 3 24 Main circuit error 25 Absolute position erase Absolute position data in error 1. Voltage drop in encoder (Battery disconnected.) 2. Battery voltage low 3.
6. TROUBLESHOOTING Display Name 30 Regenerative error 31 Overspeed 32 Overcurrent 33 Overvoltage 34 Receive error 1 35 Command frequency alarm 36 Receive error 2 37 Parameter error 42 Servo control error Definition Cause Action Refer to chapter 8 of the MR-J3- B Servo Amplifier Instruction Manual. Servo control error occurred. 1. Initial magnetic pole detection has not been performed. Perform initial magnetic pole detection. 2. The position deviation exceeded the detection level.
6. TROUBLESHOOTING Display 50 Name Overload1 Definition Cause Load exceeded overload protection characteristic of servo amplifier. 1. Servo amplifier is used in excess of its continuous output current. 1. Reduce load. 2. Check operation pattern. 3. Replace direct drive motor that provides larger output. Action 2. Servo system is instable and hunting. 1. Repeat acceleration/ deceleration to execute auto tuning. 2. Change auto tuning response setting. 3.
6. TROUBLESHOOTING Display Name 52 Error excessive 8A USB communication time-out error 8E USB communication error 888 Watchdog Definition Cause Action Refer to chapter 8 of the MR-J3- B Servo Amplifier Instruction Manual. 6.3 Remedies for warnings CAUTION If an absolute position counter warning (E3) occurred, always make home position setting again. Otherwise, it may cause an unexpected operation.
6. TROUBLESHOOTING Display Name E0 Excessive regeneration warning E1 Overload warning 1 E2 Direct drive motor overheat warning Definition Cause Action Refer to chapter 8 of the MR-J3- B Servo Amplifier Instruction Manual. Direct drive motor temperature rose and exceeded 85 of the alarm occurrence level. 1. Ambient temperature of direct drive motor is over 40 (104 ). Check environment so that ambient temperature is 0 to 40 (32 to 104 ). 2. Direct drive motor is overloaded. 1. Reduce load. 2.
6.
7. SERVO AMPLIFIER OUTLINE DRAWINGS 7. SERVO AMPLIFIER OUTLINE DRAWINGS POINT For the outline drawings of connectors, refer to section 9.2 of the MR-J3- B Servo Amplifier Instruction Manual. (1) MR-J3-20B-RJ080W [Unit: mm] 4 40 6 mounting hole Approx. 80 135 6 6 CNP1 161 168 CNP3 Approx. 68 6 Approx. 25.5 With MR-J3BAT Approx. 14 6 156 CNP2 Mass: 0.8 [kg] (1.76 [lb]) Terminal Approx.
7. SERVO AMPLIFIER OUTLINE DRAWINGS (2) MR-J3-40B-RJ080W MR-J3-60B-RJ080W [Unit: mm] 5 40 6 mounting hole Approx. 80 Approx. 170 6 6 CNP1 CNP3 Approx. 68 6 Approx. 25.5 With MR-J3BAT Approx. 14 6 156 161 168 CNP2 Mass: 1.0 [kg] (2.21 [lb]) Terminal CNP L1 L2 L3 N P1 P2 CNP P C D L11 L21 CNP U V W Approx. 40 6 PE terminal 2-M5 screw Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) Mounting hole process drawing Mounting screw Screw size: M5 Tightening torque: 3.
7. SERVO AMPLIFIER OUTLINE DRAWINGS (3) MR-J3-70B-RJ080W MR-J3-100B-RJ080W [Unit: mm] 6 mounting hole Approx. 80 60 6 185 12 6 Exhaust CNP1 161 168 CNP3 6 156 CNP2 Cooling fan air intake Approx. 14 Approx. 68 6 12 42 Approx. 25.5 With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) Terminal L1 Approx. 60 PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) P 3-M5 screw C CNP2 42 D 0.3 L11 L21 Approx. 12 U CNP3 Approx.
7. SERVO AMPLIFIER OUTLINE DRAWINGS (4) MR-J3-350B-RJ080W [Unit: mm] 6 mounting hole Approx. 80 6 195 Exhaust 6 45 90 85 6 168 156 21.4 6 With MR-J3BAT 6 78 Approx. 25.5 6 Approx. 14 Approx. 68 Cooling fan air intake Mass: 2.3 [kg] (5.1 [lb]) Terminal L1 Approx. 90 PE terminal L2 CNP1 L3 N P1 P2 U CNP3 V W Tightening torque of connector mounting screw and wire: 0.6 [N•m] (5.3 [lb•in]) Screw size: M4 Tightening torque: 1.2 [N•m] (10.
7. SERVO AMPLIFIER OUTLINE DRAWINGS (5) MR-J3-500B-RJ080W [Unit: mm] 2- 6 mounting hole Approx. 80 130 68.5 Cooling fan exhaust Terminal block layout (Terminal cover opened) 6 235 118 TE2 TE3 With MR-J3BAT TE1 20.5 6 7.5 250 7.5 6 200 131.5 Air intake 3 places for ground (M4) Built-in regenerative resistor lead terminal fixing screw Mass: 4.6 [kg] (10.1 [lb]) Approx. 130 Terminal Approx. 6 TE1 L1 L2 L3 TE2 L11 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.
7.
8. CHARACTERISTICS 8. CHARACTERISTICS 8.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the direct drive motor, servo amplifier and direct drive motor power line from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 8.1. Overload 2 alarm (51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.
8. CHARACTERISTICS 1000 1000 Operating Operating 100 Operation time [s] Operation time [s] 100 Servo lock 10 1 0.1 0 Servo lock 10 1 50 100 150 (Note) Load ratio [ 200 250 300 ] 0.1 0 50 100 150 (Note) Load ratio [ MR-J3-20B-RJ080W to MR-J3-100B-RJ080W 200 250 300 ] MR-J3-350B-RJ080W 10000 Operation time [s] 1000 Operating 100 Servo lock 10 1 0 50 100 150 (Note) Load ratio [ 200 250 300 ] MR-J3-500B-RJ080W Note.
8. CHARACTERISTICS 8.2 Dynamic brake characteristics POINT Dynamic brake operates at occurrence of alarm, servo forced stop warning (E6), and controller forced stop warning (E7), and when power is turned off. Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency.
8. CHARACTERISTICS [ms] 30 25 002 20 006 10 5 100 70 60 200 300 Speed [r/min] 400 500 30 20 10 0 0 [ms] 40 Time constant [ms] Time constant 012 048 20 10 0 0 100 012 100 200 300 Speed [r/min] 400 500 TM-RFM E20 60 30 006 40 TM-RFM C20 50 018 50 004 15 0 0 for the equation (8.1).
9. OPTIONS FOR DIRECT DRIVE SERVO 9. OPTIONS FOR DIRECT DRIVE SERVO WARNING Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
9. OPTIONS FOR DIRECT DRIVE SERVO 9.1.
9. OPTIONS FOR DIRECT DRIVE SERVO No. Product 1) Encoder connector set Model Description Application MR-J3DDCNS IP67 For connection between servo amplifier and direct drive motor. For connection between servo amplifier and absolute position storage unit. Refer to section 9.1.2 for details. 2) Encoder connector set MR-J3DDSPS IP67 For connection between absolute position storage unit and direct drive motor. Refer to section 9.1.2 for details.
9. OPTIONS FOR DIRECT DRIVE SERVO 9.1.2 Encoder connector set POINT Fabrication of the encoder cable is required at user side. Prepare the parts shown in (1) and (2), and fabricate as the wiring diagram shown in (3). For the connector set specification, refer to section 2.4.2. Fabricate the encoder cable to be 50m or shorter between the servo amplifier and the direct drive motor. Always connect the following items to configure the absolute position detection system with the direct drive servo.
9. OPTIONS FOR DIRECT DRIVE SERVO (3) Combinations for the encoder cable 1) For incremental system Servo amplifier 50m or less (Note) Encoder cable A) Direct drive motor TM-RFM CN2 b) a) Note. Refer to (3)(a) of this section for details. 2) For absolute position detection system Servo amplifier 20m or less (Note 3) (Note 1) Encoder cable B) (Note 2) Encoder cable C) CN2 c) d) e) Absolute position storage unit MR-BTAS01 Note 1. Refer to (3)(b) of this section for details. 2.
9. OPTIONS FOR DIRECT DRIVE SERVO (a) Encoder cable A) 1) Connector details a) For CN2 connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 2 LG 4 6 THM2 8 10 MRR 1 P5 3 MR 5 THM1 7 9 View seen from wiring side.
9. OPTIONS FOR DIRECT DRIVE SERVO 2) Internal wiring diagram b) For encoder connector a) For CN2 connector P5 LG 1 2 MR 3 MRR 4 THM1 5 THM2 6 SD Plate 9 10 P5 LG 7 8 6 11 5 MR MRR THM1 THM2 FG Refer to the following table for the required wires to fabricate the encoder cable. Core size [mm2] Conductor resistance of one core [Ω/km] Cable OD [mm] 0.25 63.6 or less 8.
9. OPTIONS FOR DIRECT DRIVE SERVO 2) Internal wiring diagram When the distance between the servo amplifier and the direct drive motor is within 20m (Note) c) For CN2 connector P5 LG d) For absolute position storage unit connector 1 2 MR 3 MRR 4 THM1 5 THM2 6 BAT 9 SD Plate 9 10 P5 LG 7 8 6 11 2 MR MRR THM1 THM2 BAT 5 FG Note. For the cable of 20m or longer, contact your local sales office. Refer to the following table for the required wires to fabricate the encoder cable.
9. OPTIONS FOR DIRECT DRIVE SERVO 2) Internal wiring diagram When the distance between the servo amplifier and the direct drive motor is within 20m (Note) e) For absolute position storage unit connector f) For encoder connector P5 LG 9 10 9 10 P5 LG MR MRR THM1 THM2 VB BAT FG 7 8 6 11 1 2 5 7 8 6 11 1 2 5 MR MRR THM1 THM2 VB BAT FG Note. For the cable of 20m or longer, contact your local sales office. Refer to the following table for the required wires to fabricate the encoder cable.
9. OPTIONS FOR DIRECT DRIVE SERVO 9.2 Absolute position storage unit MR-BTAS01 POINT Replacing the MR-BTAS01 absolute position storage unit will erase the absolute position. Start up the direct drive servo again and perform home positioning according to the section 4.1.1. Replace the battery (MR-J3BAT) while the control circuit power supply is on. If the battery is replaced while the control circuit power supply is off, the absolute position erase (25) will occur.
9. OPTIONS FOR DIRECT DRIVE SERVO (3) Environment The following table shows the environment for the absolute position storage unit. Item Ambient temperature Ambient humidity Operation Storage Environment [ ] 0 to 55 (non-freezing) [ ] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) Operation 90 RH or less (non-condensing) Storage Ambient Indoors (no direct sunlight), no corrosive gas, flammable gas, oil mist, dust or splash of oil or water.
9.
APPENDIX App. 1 Parameter list POINT The parameter whose symbol preceded by * can be validated with the following conditions: * : Turn off the power and then on again, or reset the controller after setting the parameter. **: Turn off the power and then on again after setting the parameter. No.
APPENDIX Extension setting parameters (PC ) No. Symbol PC01 *ERZ Error excessive alarm level PC02 MBR Electromagnetic brake sequence output PC03 I/O setting parameters (PD Name No.
APPENDIX App. 2 Signal layout recording paper CN3 1 2 LG DI1 4 3 DOCOM MO1 6 5 DICOM LA 8 7 LB LZ 9 11 12 DI2 LG 13 14 MO2 15 16 LAR 18 LZR 10 20 DICOM EM1 17 LBR 19 DI3 App. 3 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter Recommendations of the United Nations) has been issued.
APPENDIX (2) Purpose Safer transportation of lithium metal batteries. (3) Change in regulations The following points are changed for lithium metal batteries transportation by sea or air due to Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition. For lithium metal batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are classified as UN3091.
APPENDIX App. 4 Symbol for the new EU Battery Directive Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery is explained here. Note. This symbol mark is for EU countries only. This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II. Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused.
APPENDIX App. 5 Compliance with the CE marking App. 5.1 What are CE marking? The CE marking is mandatory and must be affixed to specific products placed on the European Union. When a product conforms to the requirements, the CE marking must be affixed to the product. The CE marking also applies to machines and equipment incorporating servos. (1) EMC directive The EMC directive applies to the servo units alone. This servo is designed to comply with the EMC directive.
APPENDIX (2) Structure The control circuit provide safe separation to the main circuit in the servo amplifier. Cabinet Reinforced insulating type Molded-case circuit breaker 24VDC power supply Magnetic contactor MCCB Direct drive motor Servo amplifier MC M (3) Environment (a) Operate the servo amplifier at pollution degree 2 or 1 set forth in EN 60664-1. For this purpose, install the servo amplifier in a cabinet which is protected against water, oil, carbon, dust, dirt, etc. (IP54).
APPENDIX (5) Grounding (a) To prevent an electric shock, the protective earth (PE) terminal (marked be connected to the protective earth (PE) of the cabinet. ) of the servo amplifier must (b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one. PE terminals PE terminals (c) If an earth leakage circuit breaker is used, always earth the protective earth (PE) terminal of the servo amplifier to prevent an electric shock.
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Nov. 2012 SH(NA)030079-A Revision First edition This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Country/Region Sales office Tel/Fax USA Mitsubishi Electric Automation Inc. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA Tel : Fax : 1-847-478-2100 1-847-478-0327 Germany Mitsubishi Electric Europe B.V. German Branch Gothaer Strasse 8, D-40880 Ratingen, Germany Tel : Fax : 49-2102-486-0 49-2102-486-1120 Italy Mitsubishi Electric Europe B.V.
Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries.
SH(NA)030079-A
General-Purpose AC Servo SSCNET J3 Series Interface Direct Drive Servo MODEL (Servo Amplifier) J3 Series SSCNET MR-J3-B-RJ080 INSTRUCTION MANUAL MODEL CODE 1CW601 HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030079-A (1211) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.
