sh030106u.pdf - 第453页

12. ABSOLUTE PO SITION DETECTIO N SYSTEM 12 - 6 MEMO

12. ABSOLUTE POSITION DETECTION SYSTEM

12 - 5

12.2.3 Using MR-BT6VCASE battery case

POINT

One MR-BT6VCASE holds absolute position data up to eight axes servo motors.

Always install five MR-BAT6V1 batteries to an MR-BT6VCASE.

(1) Configuration diagram

CYC0

Current position

Home position data

LS0

Position data

Detecting the

number of

revolutions

CYC

Detecting the

position within

one revolution

Servo motor

Cumulative revolution counter

(1 pulse/rev)

Within one revolution counter

High speed

serial

communication

Servo amplifierServo system controller

MR-BT6VCASE

MR-BAT6V1 × 5

Step-down

circuit

Position control

Speed control

( 6 V 3.4 V )

(2) Specification list

Item Description

System Electronic battery backup type

Maximum revolution range Home position ± 32767 rev.

(Note 1)

Maximum speed at power

failure [r/min]

Rotary servo motor

6000

(only when acceleration time until 6000 r/min is 0.2 s or more)

Direct drive motor

500

(only when acceleration time until 500 r/min is 0.1 s or more)

(Note 2)

Battery backup time

Rotary servo motor

Approximately 40,000 hours/2 axes or less, 30,000 hours/3 axes, or

10,000 hours/8 axes

(equipment power supply: off, ambient temperature: 20 ˚C)

Approximately 55,000 hours/2 axes or less, 38,000 hours/3 axes, or

15,000 hours/8 axes

(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)

Direct drive motor

Approximately 10,000 hours/2 axes or less, 7,000 hours/3 axes, or

5,000 hours/4 axes

(equipment power supply: off, ambient temperature: 20 ˚C)

Approximately 15,000 hours/2 axes or less, 13,000 hours/3 axes, or

10,000 hours/4 axes

(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)

Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is

switched on at the servo motor speed of 3000 r/min or hi

her, position mismatch ma

occur due to external force or the like.

2. The data-holding time by the battery using five MR-BAT6V1s. The battery life varies depending on the number of axes

(including axis for using in the incremental system). Replace the batteries within three years since the operation start

regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position

erased] ma

occur.

3. The powe

-on time ratio 25% is equivalent to 8 hours power on for a weekda

and off for a weekend.

12. ABSOLUTE POSITION DETECTION SYSTEM

12 - 6

MEMO

13. USING STO FUNCTION

13 - 1

13. USING STO FUNCTION

POINT

In the torque control mode, the forced stop deceleration function is not available.

13.1 Introduction

This section provides the cautions of the STO function.

13.1.1 Summary

This servo amplifier complies with the following safety standards.

ISO/EN ISO 13849-1:2015 Category 3 PL e

IEC 61508 SIL 3

IEC/EN 61800-5-2

IEC/EN IEC 62061 maximum SIL 3

13.1.2 Terms related to safety

The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts

off power supply in the servo amplifier.

The purpose of this function is as follows.

(1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1

(2) Preventing unexpected start-up

13.1.3 Cautions

The following basic safety notes must be read carefully and fully in order to prevent injury to persons or

damage to property.

Only qualified personnel are authorized to install, start-up, repair, or service the machines in which these

components are installed.

They must be familiar with all applicable local regulations and laws in which machines with these

components are installed, particularly the standards mentioned in this manual.

The staff responsible for this work must be given express permission from the company to perform start-up,

programming, configuration, and maintenance of the machine in accordance with the safety standards.

WARNING

Improper installation of the safety related components or systems may cause

improper operation in which safety is not assured, and may result in severe

injuries or even death.

Protective Measures

This servo amplifier satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by

preventing the energy supply from the servo amplifier to the servo motor. If an external force acts upon

the drive axis, additional safety measures, such as brakes or counterbalances must be used.