sh030106u.pdf - 第15页
6 14.3.5 Operation fro m contr oller .............................. ............................................................... ......... 14-25 14.3.6 Function ........................................................…
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11.19.2 Precautions ....................................................................................................................... 11-118
11.19.3 Servo amplifier settings ..................................................................................................... 11-118
11.19.4 Capacity selection ............................................................................................................. 11-119
11.19.5 Connection diagrams ........................................................................................................ 11-121
11.19.6 Wiring and peripheral options ........................................................................................... 11-123
12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6
12.1 Summary ....................................................................................................................................... 12- 1
12.1.1 Features ................................................................................................................................. 12- 1
12.1.2 Structure ................................................................................................................................. 12- 2
12.1.3 Parameter setting ................................................................................................................... 12- 2
12.1.4 Confirmation of absolute position detection data ................................................................... 12- 2
12.2 Battery ........................................................................................................................................... 12- 3
12.2.1 Using MR-BAT6V1SET battery .............................................................................................. 12- 3
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable ........................................................ 12- 4
12.2.3 Using MR-BT6VCASE battery case ....................................................................................... 12- 5
13. USING STO FUNCTION 13- 1 to 13-14
13.1 Introduction ................................................................................................................................... 13- 1
13.1.1 Summary ................................................................................................................................ 13- 1
13.1.2 Terms related to safety .......................................................................................................... 13- 1
13.1.3 Cautions ................................................................................................................................. 13- 1
13.1.4 Residual risks of the STO function ......................................................................................... 13- 2
13.1.5 Specifications ......................................................................................................................... 13- 3
13.1.6 Maintenance ........................................................................................................................... 13- 4
13.2 STO I/O signal connector (CN8) and signal layouts ..................................................................... 13- 4
13.2.1 Signal layouts ......................................................................................................................... 13- 4
13.2.2 Signal (device) explanations .................................................................................................. 13- 5
13.2.3 How to pull out the STO cable ............................................................................................... 13- 5
13.3 Connection example ..................................................................................................................... 13- 6
13.3.1 Connection example for CN8 connector ................................................................................ 13- 6
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit .................... 13- 7
13.3.3 External I/O signal connection example using an external safety relay unit ......................... 13-10
13.3.4 External I/O signal connection example using a motion controller ....................................... 13-11
13.4 Detailed description of interfaces ................................................................................................. 13-12
13.4.1 Sink I/O interface ................................................................................................................... 13-12
13.4.2 Source I/O interface .............................................................................................................. 13-14
14. USING A LINEAR SERVO MOTOR 14- 1 to 14-36
14.1 Functions and configuration .......................................................................................................... 14- 1
14.1.1 Summary ................................................................................................................................ 14- 1
14.1.2 Servo system with auxiliary equipment .................................................................................. 14- 2
14.2 Signals and wiring ......................................................................................................................... 14- 6
14.3 Operation and functions ................................................................................................................ 14- 8
14.3.1 Startup .................................................................................................................................... 14- 8
14.3.2 Magnetic pole detection ........................................................................................................ 14-11
14.3.3 Home position return ............................................................................................................. 14-20
14.3.4 Test operation mode in MR Configurator2 ............................................................................ 14-24
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14.3.5 Operation from controller ...................................................................................................... 14-25
14.3.6 Function ................................................................................................................................. 14-27
14.3.7 Absolute position detection system ....................................................................................... 14-29
14.4 Characteristics ............................................................................................................................. 14-30
14.4.1 Overload protection characteristics ....................................................................................... 14-30
14.4.2 Power supply capacity and generated loss ........................................................................... 14-34
14.4.3 Dynamic brake characteristics .............................................................................................. 14-35
14.4.4 Permissible load to motor mass ratio when the dynamic brake is used ............................... 14-36
15. USING A DIRECT DRIVE MOTOR 15- 1 to 15-22
15.1 Functions and configuration .......................................................................................................... 15- 1
15.1.1 Summary ................................................................................................................................ 15- 1
15.1.2 Servo system with auxiliary equipment .................................................................................. 15- 2
15.2 Signals and wiring ......................................................................................................................... 15- 3
15.3 Operation and functions ................................................................................................................ 15- 4
15.3.1 Startup procedure .................................................................................................................. 15- 5
15.3.2 Magnetic pole detection ......................................................................................................... 15- 6
15.3.3 Operation from controller ...................................................................................................... 15-14
15.3.4 Function ................................................................................................................................. 15-15
15.4 Characteristics ............................................................................................................................. 15-17
15.4.1 Overload protection characteristics ....................................................................................... 15-17
15.4.2 Power supply capacity and generated loss ........................................................................... 15-19
15.4.3 Dynamic brake characteristics .............................................................................................. 15-20
16. FULLY CLOSED LOOP SYSTEM 16- 1 to 16-26
16.1 Functions and configuration .......................................................................................................... 16- 1
16.1.1 Function block diagram .......................................................................................................... 16- 1
16.1.2 Selecting procedure of control mode ..................................................................................... 16- 3
16.1.3 System configuration .............................................................................................................. 16- 4
16.2 Load-side encoder ........................................................................................................................ 16- 6
16.2.1 Linear encoder ....................................................................................................................... 16- 6
16.2.2 Rotary encoder ....................................................................................................................... 16- 6
16.2.3 Configuration diagram of encoder cable ................................................................................ 16- 6
16.2.4 MR-J4FCCBL03M branch cable ............................................................................................ 16- 9
16.3 Operation and functions ............................................................................................................... 16-10
16.3.1 Startup ................................................................................................................................... 16-10
16.3.2 Home position return ............................................................................................................. 16-17
16.3.3 Operation from controller ...................................................................................................... 16-20
16.3.4 Fully closed loop control error detection functions ................................................................ 16-22
16.3.5 Auto tuning function .............................................................................................................. 16-23
16.3.6 Machine analyzer function .................................................................................................... 16-23
16.3.7 Test operation mode ............................................................................................................. 16-23
16.3.8 Absolute position detection system under fully closed loop system ..................................... 16-24
16.3.9 About MR Configurator2 ....................................................................................................... 16-25
17. APPLICATION OF FUNCTIONS 17- 1 to 17-80
17.1 J3 compatibility mode ................................................................................................................... 17- 1
17.1.1 Outline of J3 compatibility mode ............................................................................................ 17- 1
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17.1.2 Operation modes supported by J3 compatibility mode .......................................................... 17- 1
17.1.3 J3 compatibility mode supported function list ........................................................................ 17- 2
17.1.4 How to switch J4 mode/J3 compatibility mode ...................................................................... 17- 5
17.1.5 How to use the J3 compatibility mode ................................................................................... 17- 6
17.1.6 Cautions for switching J4 mode/J3 compatibility mode ......................................................... 17- 7
17.1.7 Cautions for the J3 compatibility mode .................................................................................. 17- 8
17.1.8 Change of specifications of "J3 compatibility mode" switching process ................................ 17- 9
17.1.9 J3 extension function ............................................................................................................ 17-11
17.2 Master-slave operation function ................................................................................................... 17-68
17.3 Scale measurement function ....................................................................................................... 17-72
17.3.1 Functions and configuration .................................................................................................. 17-72
17.3.2 Scale measurement encoder ................................................................................................ 17-75
17.3.3 How to use scale measurement function .............................................................................. 17-79
APPENDIX App.- 1 to App.-58
App. 1 Peripheral equipment manufacturer (for reference) .............................................................. App.- 1
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the
Transport of Dangerous Goods ............................................................................................. App.- 1
App. 3 Symbol for the new EU Battery Directive .............................................................................. App.- 4
App. 4 Compliance with global standards ........................................................................................ App.- 4
App. 5 MR-J3-D05 Safety logic unit ................................................................................................. App.- 5
App. 6 How to adjust the error excessive alarm level ..................................................................... App.-23
App. 7 How to replace servo amplifier without magnetic pole detection ......................................... App.-24
App. 8 Two-wire type encoder cable for HG-MR/HG-KR ................................................................ App.-25
App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System &
Service ................................................................................................................................. App.-27
App. 10 Analog monitor ..................................................................................................................... App.-27
App. 11 Special specif ication ............................................................................................................. App.-39
App. 12 Driving on/off of main circuit power supply with DC power supply ...................................... App.-43
App. 13 Optional data monitor function ............................................................................................. App.-45
App. 14 STO function with SIL 3 certification .................................................................................... App.-49
App. 15 When using the servo amplifier with the DC power supply input ......................................... App.-51
App. 16 Status of general-purpose AC servo products for compliance with the China RoHS
directive ................................................................................................................................ App.-55
App. 17 Encoder output pulse setting method................................................................................... App.-57