sh030106u.pdf - 第12页

3 6.1.2 Adjustment us ing MR C onfi gurator2 ....................... ............................................................... .... 6- 2 6.2 One-touch t uning .......................................... ............…

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3.7.1 When you use the forced stop deceleration function ................................................................ 3-33
3.7.2 When you do not use the forced stop deceleration function ..................................................... 3-34
3.8 Interfaces ......................................................................................................................................... 3-35
3.8.1 Internal connection diagram ...................................................................................................... 3-35
3.8.2 Detailed explanation of interfaces ............................................................................................. 3-36
3.8.3 Source I/O interfaces ................................................................................................................ 3-38
3.9 SSCNET III cable connection .......................................................................................................... 3-39
3.10 Servo motor with an electromagnetic brake .................................................................................. 3-41
3.10.1 Safety precautions .................................................................................................................. 3-41
3.10.2 Timing chart ............................................................................................................................. 3-42
3.11 Grounding ...................................................................................................................................... 3-48
4. STARTUP 4- 1 to 4-20
4.1 Switching power on for the first time ................................................................................................. 4- 2
4.1.1 Startup procedure....................................................................................................................... 4- 2
4.1.2 Wiring check ............................................................................................................................... 4- 3
4.1.3 Surrounding environment ........................................................................................................... 4- 6
4.2 Startup............................................................................................................................................... 4- 6
4.3 Switch setting and display of the servo amplifier .............................................................................. 4- 8
4.3.1 Switches ..................................................................................................................................... 4- 8
4.3.2 Scrolling display ........................................................................................................................ 4-11
4.3.3 Status display of an axis ........................................................................................................... 4-12
4.4 Test operation .................................................................................................................................. 4-14
4.5 Test operation mode ........................................................................................................................ 4-14
4.5.1 Test operation mode in MR Configurator2 ................................................................................ 4-15
4.5.2 Motor-less operation in controller .............................................................................................. 4-18
5. PARAMETERS 5- 1 to 5-56
5.1 Parameter list .................................................................................................................................... 5- 1
5.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 5- 2
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 3
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 4
5.1.4 I/O setting parameters ([Pr. PD_ _ ]).......................................................................................... 5- 6
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 5- 7
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 5- 8
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ................................................ 5- 9
5.2 Detailed list of parameters ............................................................................................................... 5-11
5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 5-11
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-22
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-35
5.2.4 I/O setting parameters ([Pr. PD_ _ ])......................................................................................... 5-42
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 5-48
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-51
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-53
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-28
6.1 Different adjustment methods ........................................................................................................... 6- 1
6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1
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6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2
6.2 One-touch tuning .............................................................................................................................. 6- 3
6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 5
6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 7
6.2.3 Caution for one-touch tuning ..................................................................................................... 6-17
6.3 Auto tuning ....................................................................................................................................... 6-18
6.3.1 Auto tuning mode ...................................................................................................................... 6-18
6.3.2 Auto tuning mode basis ............................................................................................................. 6-19
6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-20
6.3.4 Response level setting in auto tuning mode ............................................................................. 6-21
6.4 Manual mode ................................................................................................................................... 6-22
6.5 2 gain adjustment mode ................................................................................................................... 6-25
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-38
7.1 Filter setting ...................................................................................................................................... 7- 1
7.1.1 Machine resonance suppression filter........................................................................................ 7- 2
7.1.2 Adaptive filter II ........................................................................................................................... 7- 5
7.1.3 Shaft resonance suppression filter ............................................................................................. 7- 7
7.1.4 Low-pass filter ............................................................................................................................ 7- 8
7.1.5 Advanced vibration suppression control II ................................................................................. 7- 8
7.1.6 Command notch filter ................................................................................................................ 7-13
7.2 Gain switching function .................................................................................................................... 7-15
7.2.1 Applications ............................................................................................................................... 7-15
7.2.2 Function block diagram ............................................................................................................. 7-16
7.2.3 Parameter .................................................................................................................................. 7-17
7.2.4 Gain switching procedure .......................................................................................................... 7-20
7.3 Tough drive function ........................................................................................................................ 7-24
7.3.1 Vibration tough drive function .................................................................................................... 7-24
7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-26
7.4 Compliance with SEMI-F47 standard .............................................................................................. 7-30
7.5 Model adaptive control disabled ...................................................................................................... 7-33
7.6 Lost motion compensation function ................................................................................................. 7-34
7.7 Super trace control ........................................................................................................................... 7-37
8. TROUBLESHOOTING 8- 1 to 8-16
8.1 Explanation for the lists ..................................................................................................................... 8- 1
8.2 Alarm list ........................................................................................................................................... 8- 2
8.3 Warning list ...................................................................................................................................... 8-12
8.4 Troubleshooting at power on ........................................................................................................... 8-15
9. DIMENSIONS 9- 1 to 9-22
9.1 Servo amplifier .................................................................................................................................. 9- 1
9.2 Connector......................................................................................................................................... 9-20
10. CHARACTERISTICS 10- 1 to 10-16
10.1 Overload protection characteristics .............................................................................................. 10- 1
10.2 Power supply capacity and generated loss .................................................................................. 10- 5
4
10.3 Dynamic brake characteristics ...................................................................................................... 10- 8
10.3.1 Dynamic brake operation ....................................................................................................... 10- 9
10.3.2 Permissible load to motor inertia when the dynamic brake is used ...................................... 10-12
10.4 Cable bending life ........................................................................................................................ 10-13
10.5 Inrush currents at power-on of main circuit and control circuit .................................................... 10-14
11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-126
11.1 Cable/connector sets .................................................................................................................... 11- 1
11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2
11.1.2 MR-D05UDL3M-B STO cable ................................................................................................ 11- 6
11.1.3 SSCNET III cable ................................................................................................................... 11- 7
11.1.4 Battery cable/junction battery cable ....................................................................................... 11- 9
11.2 Regenerative options ................................................................................................................... 11-10
11.2.1 Combination and regenerative power ................................................................................... 11-10
11.2.2 Selection of regenerative option............................................................................................ 11-12
11.2.3 Parameter setting .................................................................................................................. 11-16
11.2.4 Connection of regenerative option ........................................................................................ 11-16
11.2.5 Mounting direction .................................................................................................................. 11-22
11.2.6 Dimensions ............................................................................................................................ 11-23
11.3 FR-BU2-(H) brake unit ................................................................................................................. 11-27
11.3.1 Selection ................................................................................................................................ 11-27
11.3.2 Brake unit parameter setting ................................................................................................. 11-28
11.3.3 Connection example ............................................................................................................. 11-29
11.3.4 Dimensions ............................................................................................................................ 11-37
11.4 FR-RC-(H) power regeneration converter ................................................................................... 11-40
11.5 FR-CV-(H) power regeneration common converter ..................................................................... 11-44
11.5.1 Model designation ................................................................................................................. 11-45
11.5.2 Selection ................................................................................................................................ 11-45
11.6 Junction terminal block PS7DW-20V14B-F (recommended) ...................................................... 11-53
11.7 MR Configurator2 ......................................................................................................................... 11-54
11.7.1 Engineering software ............................................................................................................ 11-54
11.7.2 Precautions for using USB communication function ............................................................. 11-55
11.8 Battery .......................................................................................................................................... 11-56
11.8.1 Selection of battery ............................................................................................................... 11-56
11.8.2 MR-BAT6V1SET battery ....................................................................................................... 11-56
11.8.3 MR-BAT6V1BJ battery for junction battery cable ................................................................. 11-60
11.8.4 MR-BT6VCASE battery case ................................................................................................ 11-64
11.8.5 MR-BAT6V1 battery .............................................................................................................. 11-70
11.9 Selection example of wires .......................................................................................................... 11-71
11.10 Molded-case circuit breakers, fuses, magnetic contac tors ........................................................ 11-75
11.11 Power factor improving DC reactors .......................................................................................... 11-78
11.12 Power factor improving AC reactors .......................................................................................... 11-80
11.13 Relay (recommended) ............................................................................................................... 11-84
11.14 Noise reduction techniques ....................................................................................................... 11-85
11.15 Earth-leakage current breaker ................................................................................................... 11-92
11.16 EMC filter (recommended) ......................................................................................................... 11-95
11.17 External dynamic brake ........................................................................................................... 11-103
11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) ........................................................ 11-113
11.19 Multifunction regeneration converter FR-XC-(H) ..................................................................... 11-118
11.19.1 Multifunction regeneration converters and dedicated stand-alone reactors ..................... 11-118