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[伺服] MR-J4-B伺服放大器技术资料集下载

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冰糖 发表于 2013-6-13 12:18:48 | 显示全部楼层 |阅读模式

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目录

第1章 功能和配置  1 - 1~1 - 18

1.1  概要 ············································································································································  1 - 1
1.2  功能逻辑框图 ······························································································································  1 - 2
1.3  伺服放大器标准规格 ···················································································································  1 - 4
1.4  伺服放大器与伺服电机的组合 ·····································································································  1 - 5
1.5  功能一览 ·····································································································································  1 - 6
1.6  型号的构成 ·································································································································  1 - 7
1.7  结构 ············································································································································  1 - 8
1.7.1各部位的名称 ······················································································································  1 - 8
1.7.2正面盖板的拆卸与安装 ······································································································  1 -12
1.8  配套设备的构成 ·························································································································  1 -14

第2章 安装  2 - 1~2 - 8

2.1  安装方向与间隔 ··························································································································  2 - 2
2.2  防止异物进入 ······························································································································  2 - 3
2.3  编码器电缆强度 ··························································································································  2 - 4
2.4 SCNETⅢ电缆的布线··················································································································  2 - 4
2.5  检查项目 ·····································································································································  2 - 6
2.6  具有使用寿命的部件 ···················································································································  2 - 7

第3章 信号与配线  3 - 1~3 - 34

3.1  电源系统回路的连接示例 ············································································································  3 - 2
3.2  输入输出信号的连接示例 ············································································································  3 - 7
3.2.1  漏输入输出接口的情况 ····································································································  3- 7
3.2.2  源输入输出接口的情况 ····································································································  3- 9
3.3  电源类的说明 ····························································································································  3 - 10
3.3.1  信号的说明 ·····················································································································  3-10
3.3.2  通电程序·························································································································  3-11
3.3.3 CNP1,CNP2以及CNP3的配线方法 ··············································································  3-12
3.4  接口与信号排列 ························································································································  3 - 14
3.5  信号(元件)的说明 ······················································································································  3 - 15
3.5.1  输入元件·························································································································  3-15
3.5.2  输出元件·························································································································  3-16
3.5.3  输出信号·························································································································  3-17
3.5.4  电源 ································································································································  3-17
3.6  强制停止减速功能的说明 ··········································································································  3 - 18
3.6.1  强制停止减速功能(SS1) ·································································································  3-18
3.6.2  基座切断延迟功能 ··········································································································  3-19
3.6.3  上下轴拉升功能 ··············································································································  3-20
3.6.4  使用EM2的强制停止功能的残留风险 ·············································································  3-20
3.7  报警发生时的时序图 ·················································································································  3 - 21
3.7.1  使用强制停止减速功能时································································································  3-21
3.7.2  不使用强制停止减速功能时 ····························································································  3-22
3.8  接口 ··········································································································································  3 - 23
3.8.1  内部连接图 ·····················································································································  3-23
3.8.2  接口的详细说明 ··············································································································  3-24

3.8.3  源输入输出接口 ··············································································································  3-26
3.9 SSCNETⅢ电缆的连接 ···············································································································  3-27
3.10  带电磁制动器伺服电机 ···············································································································  3-29
3.10.1  注意事项·························································································································  3-29
3.10.2  时序图 ····························································································································  3-30
3.11  接地 ············································································································································  3-34

第4章 启动  4 - 1~4 - 18

4.1首次接通电源时 ······························································································································  4 - 2
4.1.1  启动步骤·························································································································  4 - 2
4.1.2  配线的检查 ·····················································································································  4 - 3
4.1.3  周围环境·························································································································  4 - 4
4.2  启动 ············································································································································  4 - 4
4.3  伺服放大器的开关设定与显示部位 ·····························································································  4 - 6
4.3.1开关 ····································································································································  4 - 6
4.3.2  滚动显示·························································································································  4 - 9
4.3.3  轴的状态显示 ···············································································································  4 - 10
4.4  试运行 ······································································································································  4 - 12
4.5  试运行模式 ·······························································································································  4 - 12
4.5.1 MR Configurator2的试运行模式 ···················································································  4 - 13
4.5.2  控制器的无电机运行 ·····································································································  4 - 16

第5章 参数  5 - 1~5 - 46

5.1  参数一览 ·····································································································································  5 - 1
5.1.1  基本设定参数([Pr.PA_ _ ]) ······························································································  5 - 2
5.1.2  增益滤波器设定参数([Pr.PB_ _ ]) ···················································································  5 - 3
5.1.3  扩展设定参数([Pr.PC_ _ ])······························································································  5 - 4
5.1.4  输入输出设定参数([Pr.PD_ _ ]) ······················································································  5 - 6
5.1.5  扩展设定2参数([Pr.PE_ _ ]) ····························································································  5 - 7
5.1.6扩展设定3参数([Pr.PF_ _ ]) ································································································  5 - 8
5.1.7  直线伺服电机/直驱电机设定参数([Pr.PL_ _ ])  ·································································  5 - 9
5.2参数详情一览 ································································································································  5 - 11
5.2.1  基本设定参数([Pr.PA_ _ ]) ····························································································  5 - 11
5.2.2  增益滤波器设定参数([Pr.PB_ _ ]) ·················································································  5 - 20
5.2.3  扩展设定参数([Pr.PC_ _ ])····························································································  5 - 32
5.2.4  输入输出设定参数([Pr.PD_ _ ]) ····················································································  5 - 37
5.2.5扩展设定2参数([Pr.PE_ _ ]) ······························································································  5 - 40
5.2.6  扩展设定3参数([Pr.PF_ _ ]) ··························································································  5 - 42
5.2.7  直线伺服电机/直驱电机设定参数([Pr.PL_ _ ])  ·······························································  5 - 43

第6章 一般增益调整 6 - 1~6 -18

6.1调整方法的种类 ································································································································  6-1
6.1.1  伺服电机单体的调整 ········································································································  6- 1
6.1.2  基于MR Configurator2的调整 ··························································································  6- 2
6.2  一键式调整 ··································································································································  6- 3
6.2.1  一键式调整的流程 ···········································································································  6- 3
6.2.2  一键式调整的显示变化/操作方法 ·····················································································  6- 4
6.2.3  一键式调整时的注意 ········································································································  6- 8


6.3  自动调整 ·····································································································································  6 - 9
6.3.1  自动调整模式 ·················································································································  6 - 9
6.3.2  自动调整模式的基础 ·····································································································  6 - 10
6.3.3  自动调整的调整步骤 ·····································································································  6 - 11
6.3.4自动调整模式的响应性设定 ······························································································  6 - 12
6.4  手动模式 ···································································································································  6 - 13
6.5 2增益调整模式 ···························································································································  6 -17

第7章 特殊调整功能 7 - 1~7 - 24

7.1  滤波器设定 ·································································································································  7 - 1
7.1.1  机械共振抑制滤波器 ·······································································································  7 - 1
7.1.2  自适应滤波器Ⅱ ··············································································································  7 - 4
7.1.3  轴共振抑制滤波器 ··········································································································  7 - 6
7.1.4  低通滤波器 ·····················································································································  7 - 7
7.1.5  高级减震控制Ⅱ ···············································································································  7- 7
7.1.6  指令陷波滤波器 ··············································································································  7-11
7.2  增益切换功能 ····························································································································  7 - 13
7.2.1  用途 ······························································································································  7 - 13
7.2.2  功能逻辑框图 ···············································································································  7 - 14
7.2.3  参数 ······························································································································  7 - 15
7.2.4  增益切换的步骤 ············································································································  7 - 17
7.3  强制驱动功能 ····························································································································  7 - 20
7.3.1  振动强制驱动功能 ········································································································  7 - 20
7.3.2  瞬停强制驱动功能 ········································································································  7 - 22

第8章  故障排查  8 - 1~8 - 6

8.1  报警/警告一览表 ·························································································································  8 - 1
8.2  通电时的故障排查 ······················································································································  8 - 6

第9章 外形尺寸图  9 - 1~9 - 10

9.1  伺服放大器 ·································································································································  9 - 1
9.2  接插件 ········································································································································  9 - 8

第10章 特性  10 - 1~10 - 8

10.1  过载保护特性 ····························································································································  10 - 1
10.2  电源设备容量与发生损失 ··········································································································  10 - 3
10.3  动态制动器特性 ························································································································  10 - 5
10.3.1  关于动态制动器的制动 ·································································································  10 - 5
10.3.2  使用动态制动器时的容许负载惯量矩 ············································································  10 - 6
10.4电缆弯曲寿命 ······························································································································  10 - 7
10.5  主回路/控制回路通电时的浪涌电流 ··························································································  10 - 7

第11章  选件/配套设备 11 - 1~11 - 52

11.1电缆/接插件组 ······························································································································  11- 1
11.1.1  电缆/接插件组的组合 ·····································································································  11- 2
11.1.2 MR-D05UDL3M-B STO电缆 ·························································································  11- 4


11.1.3 SSCNETⅢ电缆  ············································································································  11 - 5
11.2  再生选件 ···································································································································  11 - 7
11.2.1  组合与再生电力 ············································································································  11 - 7
11.2.2再生选件的选择 ··············································································································  11 - 8
11.2.3  参数的设定 ·················································································································  11 - 11
11.2.4  再生选择件的连接 ······································································································  11 - 11
11.2.5  外形尺寸图 ·················································································································  11 - 14
11.3 FR-BU2制动模块 ····················································································································  11 - 16
11.3.1  选择 ····························································································································  11 - 16
11.3.2  制动模块的参数设定 ···································································································  11 - 16
11.3.3  连接示例·····················································································································  11 - 17
11.3.4  外形尺寸图 ·················································································································  11 - 22
11.4 FR-RC电源再生转换器 ···········································································································  11 - 23
11.5 FR-CV电源再生共通转换器 ····································································································  11 - 26
11.6  中继端子台PS7DW-20V14B-F(推荐用品)  ···············································································  11 - 30
11.7 MR Configurator2 ···················································································································  11 - 31
11.8  电池 ········································································································································  11 - 33
11.9  电线选择示例 ··························································································································  11 - 34
11.10 无熔丝断路器/保险丝/电磁接触器(推荐用品) ··········································································  11 - 36
11.11 功率因素改善DC电抗器 ··········································································································  11 - 36
11.12 功率因素改善电抗器 ···············································································································  11 - 38
11.13 继电器(推荐品) ·······················································································································  11 - 39
11.14 噪声对策 ·································································································································  11 - 40
11.15 漏电断路器 ·····························································································································  11 - 47
11.16 EMC滤波器(推荐用品) ············································································································  11 - 50

第12章 绝对位置检测系统 12 - 1~12 - 6

12.1  特点 ··········································································································································  12 - 1
12.2  规格 ··········································································································································  12 - 2
12.3  电池的更换方法 ························································································································  12 - 3
12.4电池的拆装方法 ··························································································································  12 - 4
12.5绝对位置检测数据的确认 ············································································································  12 - 6

第13章 使用STO功能时 13- 1~13-12

13.1  前言 ···········································································································································  13- 1
13.1.1  概要 ·······························································································································  13- 1
13.1.2  安全相关用语的说明 ······································································································  13- 1
13.1.3  注意 ·······························································································································  13- 1
13.1.4 STO功能的残留风险 ·····································································································  13- 2
13.1.5  规格 ·······························································································································  13- 3
13.1.6  维护/保养·······················································································································  13- 4
13.2 STO输入输出信号接插件(CN8)与信号排列 ···············································································  13- 4
13.2.1  信号排列························································································································  13- 4
13.2.2  信号(元件)的说明 ··········································································································  13- 5
13.2.3 STO电缆的拔除方法 ·····································································································  13- 5
13.3  连接示例 ····································································································································  13- 6
13.3.1 CN8接插件连接示例 ······································································································  13- 6
13.3.2  使用MR-J3-D05安全逻辑模块时外部输入输出信号连接示例  ·········································  13- 7
13.3.3  使用外部安全继电器时的外部输入输出信号连接示例 ····················································  13- 8

13.3.4  使用动作控制器时的外部输入输出信号连接示例 ··························································  13 - 9
13.4  接口的详细说明 ······················································································································  13 - 10
13.4.1  漏输入输出接口 ··········································································································  13 - 10
13.4.2  源输入输出接口 ··········································································································  13 - 11

第14章 使用直线伺服电机时 14 - 1~14 - 28

14.1  功能与结构 ·······························································································································  14 - 1
14.1.1  概要 ······························································································································  14 - 1
14.1.2  配套设备与结构 ············································································································  14 - 2
14.2  信号与配线 ·······························································································································  14 - 3
14.3  运行与功能 ·······························································································································  14 - 5
14.3.1  启动 ······························································································································  14 - 5
14.3.2磁极检测 ·························································································································  14 - 7
14.3.3  原点复归·····················································································································  14 - 15
14.3.4 MR Configurator2的试运行模式 ·················································································  14 - 19
14.3.5  基于控制器的运行 ······································································································  14 - 21
14.3.6  功能 ····························································································································  14 - 22
14.3.7  绝对位置检测系统 ······································································································  14 - 24
14.4  特性 ········································································································································  14 - 25
14.4.1过载保护特性 ················································································································  14 - 25
14.4.2  电源设备容量与发生损失····························································································  14 - 26
14.4.3动态制动器特性 ············································································································  14 - 27
14.4.4  使用动态制动器时的容许荷重比 ·················································································  14 - 28

第15章  使用直驱电机时 15 - 1~15 - 20

15.1  功能与结构 ·······························································································································  15 - 1
15.1.1  概要 ······························································································································  15 - 1
15.1.2配套设备与结构 ··············································································································  15 - 2
15.2  信号与配线 ·······························································································································  15 - 3
15.3  运行与功能 ·······························································································································  15 - 4
15.3.1  启动步骤·······················································································································  15 - 5
15.3.2  磁极检测·······················································································································  15 - 6
15.3.3  基于控制器的运行 ······································································································  15 - 13
15.3.4功能 ······························································································································  15 - 15
15.4  特性 ········································································································································  15 - 16
15.4.1  过载保护特性 ·············································································································  15 - 16
15.4.2  电源设备容量与发生损失····························································································  15 - 18
15.4.3动态制动器特性 ············································································································  15 - 19

第16章  使用全封闭系统时(预定支持) 16 - 1~16 - 24

16.1  功能与结构 ·······························································································································  16 - 1
16.1.1  功能逻辑框图 ···············································································································  16 - 1
16.1.2  控制模块的选择步骤 ·····································································································  16 - 3
16.1.3  系统结构·······················································································································  16 - 4
16.2  机械端编码器 ····························································································································  16 - 5
16.2.1  直线编码器 ···················································································································  16 - 5
16.2.2  旋转编码器 ···················································································································  16 - 5
16.2.3  编码器电缆结构图 ········································································································  16 - 5

16.2.4 MR-J4FCCBL03M分支电缆 ·························································································  16 - 7
16.3  运行与功能 ·······························································································································  16 - 8
16.3.1  启动 ······························································································································  16 - 8
16.3.2  原点复归·····················································································································  16 - 14
16.3.3基于控制器的运行  ·········································································································  16 - 17
16.3.4  全封闭控制异常检测功能····························································································  16 - 19
16.3.5  全封闭系统中的绝对位置检测系统 ·············································································  16 - 21
16.3.6 MR Configurator216 - 22

附件  附-1~附-37

附1  配套设备制造商(参考用) ·········································································································· 附 - 1
附2  联合国《关于危险货物运输的建议书》中的AC伺服放大器电池的标准的符合 附 - 1
附3  欧洲新电池指令的符合标志  ··································································································· 附 - 3
附4 CE标志的符合  ······················································································································· 附 - 3
附5 UL/CSA标准的符合 ················································································································ 附 - 6
附6  KC标准的符合  ······················································································································· 附 - 9
附7 MR-J3-D05安全逻辑模块   ····································································································· 附 - 10
附8  EC declaration of conformity ·······························································································  附 - 28
附9  伺服放大器的谐波抑制对策  ································································································· 附 - 29
附10 不进行磁极检测的伺服放大器更换  ······················································································· 附 - 30
附11 HG-MR・HG-KR用2线式编码器电缆 ······················································································ 附 - 32
附12 三菱电机系统服务产SSCNETⅢ电缆(SC-J3BUS_M-C) ······················································  附 - 33
附13 模拟监视器 ···························································································································· 附 - 33


华为网盘附件:
【华为网盘】MR-J4-B伺服放大器技术资料集@BBS.ZIWAI.NET.rar


解压密码
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sinotech 发表于 2014-3-17 09:25:12 | 显示全部楼层
有没有QD77MS4的中文技术手册啊
hweineng 发表于 2013-9-11 20:06:20 | 显示全部楼层
找了好久呀,终于找到了,谢谢大大
天空勇士 发表于 2013-7-14 23:12:02 | 显示全部楼层
找了好久呀,终于找到了,谢谢大大
wingwoh 发表于 2013-7-23 00:11:26 | 显示全部楼层
谢谢谢谢谢谢谢谢谢谢
bennylau 发表于 2013-7-26 15:54:52 | 显示全部楼层
感谢楼主提供 学习
你不懂丶 发表于 2013-8-26 22:08:20 | 显示全部楼层
快快快快快快快
zgh888 发表于 2013-9-11 20:51:24 | 显示全部楼层
密码看看看看
yeshanying 发表于 2013-9-22 16:56:48 | 显示全部楼层
急求解压密码 谢谢
waixmy 发表于 2013-9-30 09:39:14 | 显示全部楼层
很好很强大,我喜欢。
leelhoo 发表于 2013-10-21 09:42:27 | 显示全部楼层
绝对是好东东,谢谢!
wanglizan 发表于 2013-10-29 13:22:37 | 显示全部楼层
似懂非懂个人如果熬过
pub4202 发表于 2013-12-25 00:15:32 | 显示全部楼层
^^~~~GOOD~~GOOD
lucifazzk 发表于 2014-2-4 23:42:39 | 显示全部楼层
急用啊 谢谢了 爱死你了
anyuanxi 发表于 2014-2-26 10:23:39 | 显示全部楼层
很好,赞一个
surf 发表于 2014-3-16 15:25:57 | 显示全部楼层
谢谢楼主,正需要呢。
Cxr 发表于 2014-3-20 10:48:39 | 显示全部楼层
找了很久啊
swapn 发表于 2014-4-16 07:23:15 | 显示全部楼层

急求解压密码 谢谢
wwf 发表于 2014-4-26 20:23:19 | 显示全部楼层
很需要,求密码
FULKZGP 发表于 2014-5-3 21:13:56 | 显示全部楼层
好资料!辛苦点值得!
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