工控编程吧
《三菱伺服驱动器 MR-J4-B 用户使用手册 中文高清版》
文档目录为：
目录
第1章 功能和配置
1 1 概要 ··········································································
1 2 功能逻辑框图 ····························································
1 3 伺服放大器标准规格 ·················································
1 4 伺服放大器与伺服电机的组合 ···································
1 5 功能一览 ···································································
1 6 型号的构成 ·······························································
1 7 结构 ··········································································
1 7 1各部位的名称 ····················································
1 7 2正面盖板的拆卸与安装 ·····································
1 8 配套设备的构成 ························································
第2章 安装
2 1 安装方向与间隔 ························································
2 2 防止异物进入 ····························································
2 3 编码器电缆强度 ························································
2 4 SCNETⅢ电缆的布线················································
2 5 检查项目 ···································································
2 6 具有使用寿命的部件 ·················································
第3章 信号与配线
3 1 电源系统回路的连接示例 ··········································
3 2 输入输出信号的连接示例 ··········································
3 2 1 漏输入输出接口的情况 ·································
3 2 2 源输入输出接口的情况 ·································
3 3 电源类的说明 ····························································
3 3 1 信号的说明 ···················································
3 3 2 通电程序·······················································
3 3 3 CNP1，CNP2以及CNP3的配线方法 ············
3 4 接口与信号排列 ························································
3 5 信号(元件)的说明 ······················································
3 5 1 输入元件·······················································
3 5 2 输出元件·······················································
3 5 3 输出信号·······················································
3 5 4 电源 ······························································
3 6 强制停止减速功能的说明 ··········································
3 6 1 强制停止减速功能(SS1) ·······························
3 6 2 基座切断延迟功能 ········································
3 6 3 上下轴拉升功能 ············································
3 6 4 使用EM2的强制停止功能的残留风险 ···········
3 7 报警发生时的时序图 ·················································
3 7 1 使用强制停止减速功能时······························
3 7 2 不使用强制停止减速功能时 ··························
3 8 接口 ··········································································
3 8 1 内部连接图 ···················································
3 8 2 接口的详细说明 ············································
3 8 3 源输入输出接口 ·······················································
3 9 SSCNETⅢ电缆的连接 ························································
3 10 带电磁制动器伺服电机 ························································
3 10 1 注意事项··································································
3 10 2 时序图 ·····································································
3 11 接地 ·····················································································
第4章 启动
4 1首次接通电源时 ·······································································
4 1 1 启动步骤··································································
4 1 2 配线的检查 ······························································
4 1 3 周围环境··································································
4 2 启动 ·····················································································
4 3 伺服放大器的开关设定与显示部位 ······································
4 3 1开关 ·············································································
4 3 2 滚动显示··································································
4 3 3 轴的状态显示 ··························································
4 4 试运行 ·················································································
4 5 试运行模式 ··········································································
4 5 1 MR Configurator2的试运行模式 ······························
4 5 2 控制器的无电机运行 ················································
第5章 参数
5 1 参数一览 ··············································································
5 1 1 基本设定参数([Pr PA_ _ ]) ·······································
5 1 2 增益滤波器设定参数([Pr PB_ _ ]) ····························
5 1 3 扩展设定参数([Pr PC_ _ ])·······································
5 1 4 输入输出设定参数([Pr PD_ _ ]) ·······························
5 1 5 扩展设定2参数([Pr PE_ _ ]) ·····································
5 1 6扩展设定3参数([Pr PF_ _ ]) ·········································
5 1 7 直线伺服电机/直驱电机设定参数([Pr PL_ _ ]) ··········
5 2参数详情一览 ···········································································
5 2 1 基本设定参数([Pr PA_ _ ]) ·······································
5 2 2 增益滤波器设定参数([Pr PB_ _ ]) ····························
5 2 3 扩展设定参数([Pr PC_ _ ])·······································
5 2 4 输入输出设定参数([Pr PD_ _ ]) ·······························
5 2 5扩展设定2参数([Pr PE_ _ ]) ·········································
5 2 6 扩展设定3参数([Pr PF_ _ ]) ·····································
5 2 7 直线伺服电机/直驱电机设定参数([Pr PL_ _ ]) ··········
第6章 一般增益调整
6 1调整方法的种类 ·······································································
6 1 1 伺服电机单体的调整 ················································
6 1 2 基于MR Configurator2的调整 ··································
6 2 一键式调整 ··········································································
6 2 1 一键式调整的流程 ···················································
6 2 2 一键式调整的显示变化/操作方法 ·····························
6 2 3 一键式调整时的注意 ················································
6 3 自动调整 ······································································
6 3 1 自动调整模式 ··················································
6 3 2 自动调整模式的基础 ········································
6 3 3 自动调整的调整步骤 ········································
6 3 4自动调整模式的响应性设定 ·································
6 4 手动模式 ······································································
6 5 2增益调整模式 ·····························································
第7章 特殊调整功能
7 1 滤波器设定 ··································································
7 1 1 机械共振抑制滤波器 ········································
7 1 2 自适应滤波器Ⅱ ···············································
7 1 3 轴共振抑制滤波器 ···········································
7 1 4 低通滤波器 ······················································
7 1 5 高级减震控制Ⅱ ···············································
7 1 6 指令陷波滤波器 ···············································
7 2 增益切换功能 ·······························································
7 2 1 用途 ·································································
7 2 2 功能逻辑框图 ··················································
7 2 3 参数 ·································································
7 2 4 增益切换的步骤 ···············································
7 3 强制驱动功能 ·······························································
7 3 1 振动强制驱动功能 ···········································
7 3 2 瞬停强制驱动功能 ···········································
第8章 故障排查
8 1 报警/警告一览表 ··························································
8 2 通电时的故障排查 ·······················································
第9章 外形尺寸图
9 1 伺服放大器 ··································································
9 2 接插件 ·········································································
第10章 特性
10 1 过载保护特性 ·······························································
10 2 电源设备容量与发生损失 ·············································
10 3 动态制动器特性 ···························································
10 3 1 关于动态制动器的制动 ····································
10 3 2 使用动态制动器时的容许负载惯量矩 ···············
10 4电缆弯曲寿命 ·································································
10 5 主回路/控制回路通电时的浪涌电流 ·····························
第11章 选件/配套设备
11 1电缆/接插件组 ································································
11 1 1 电缆/接插件组的组合 ·······································
11 1 2 MR-D05UDL3M-B STO电缆 ···························
11 1 3 SSCNETⅢ电缆 ·················································································
11 2 再生选件 ········································································································
11 2 1 组合与再生电力 ·················································································
11 2 2再生选件的选择 ···················································································
11 2 3 参数的设定 ························································································
11 2 4 再生选择件的连接 ·············································································
11 2 5 外形尺寸图 ························································································
11 3 FR-BU2制动模块 ···························································································
11 3 1 选择 ···································································································
11 3 2 制动模块的参数设定 ··········································································
11 3 3 连接示例····························································································
11 3 4 外形尺寸图 ························································································
11 4 FR-RC电源再生转换器 ··················································································
11 5 FR-CV电源再生共通转换器 ···········································································
11 6 中继端子台PS7DW-20V14B-F(推荐用品) ······················································
11 7 MR Configurator2 ··························································································
11 8 电池 ···············································································································
11 9 电线选择示例 ·································································································
11 10 无熔丝断路器/保险丝/电磁接触器(推荐用品) ·················································
11 11 功率因素改善DC电抗器 ·················································································
11 12 功率因素改善电抗器 ······················································································
11 13 继电器(推荐品) ······························································································
11 14 噪声对策 ········································································································
11 15 漏电断路器 ····································································································
11 16 EMC滤波器(推荐用品) ···················································································
第12章 绝对位置检测系统
12 1 特点 ···············································································································
12 2 规格 ···············································································································
12 3 电池的更换方法 ·····························································································
12 4电池的拆装方法 ·······························································································
12 5绝对位置检测数据的确认 ·················································································
第13章 使用STO功能时
13 1 前言 ···············································································································
13 1 1 概要 ···································································································
13 1 2 安全相关用语的说明 ··········································································
13 1 3 注意 ···································································································
13 1 4 STO功能的残留风险 ·········································································
13 1 5 规格 ···································································································
13 1 6 维护/保养···························································································
13 2 STO输入输出信号接插件(CN8)与信号排列 ···················································
13 2 1 信号排列····························································································
13 2 2 信号(元件)的说明 ··············································································
13 2 3 STO电缆的拔除方法 ·········································································
13 3 连接示例 ········································································································
13 3 1 CN8接插件连接示例 ··········································································
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 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 3 4 使用动作控制器时的外部输入输出信号连接示例 ··················
13 4 接口的详细说明 ················································································
13 4 1 漏输入输出接口 ····································································
13 4 2 源输入输出接口 ····································································
第14章 使用直线伺服电机时
14 1 功能与结构 ·······················································································
14 1 1 概要 ······················································································
14 1 2 配套设备与结构 ····································································
14 2 信号与配线 ·······················································································
14 3 运行与功能 ·······················································································
14 3 1 启动 ······················································································
14 3 2磁极检测 ·················································································
14 3 3 原点复归···············································································
14 3 4 MR Configurator2的试运行模式 ···········································
14 3 5 基于控制器的运行 ································································
14 3 6 功能 ······················································································
14 3 7 绝对位置检测系统 ································································
14 4 特性 ··································································································
14 4 1过载保护特性 ··········································································
14 4 2 电源设备容量与发生损失······················································
14 4 3动态制动器特性 ······································································
14 4 4 使用动态制动器时的容许荷重比 ···········································
第15章 使用直驱电机时
15 1 功能与结构 ·······················································································
15 1 1 概要 ······················································································
15 1 2配套设备与结构 ······································································
15 2 信号与配线 ·······················································································
15 3 运行与功能 ·······················································································
15 3 1 启动步骤···············································································
15 3 2 磁极检测···············································································
15 3 3 基于控制器的运行 ································································
15 3 4功能 ························································································
15 4 特性 ··································································································
15 4 1 过载保护特性 ·······································································
15 4 2 电源设备容量与发生损失······················································
15 4 3动态制动器特性 ······································································
第16章 使用全封闭系统时(预定支持)
16 1 功能与结构 ·······················································································
16 1 1 功能逻辑框图 ·······································································
16 1 2 控制模块的选择步骤 ·····························································
16 1 3 系统结构···············································································
16 2 机械端编码器 ····················································································
16 2 1 直线编码器 ···········································································
16 2 2 旋转编码器 ···········································································
16 2 3 编码器电缆结构图 ································································
16 2 4 MR-J4FCCBL03M分支电缆 ················································
16 3 运行与功能 ······················································································
16 3 1 启动 ·····················································································
16 3 2 原点复归··············································································
16 3 3基于控制器的运行 ··································································
16 3 4 全封闭控制异常检测功能·····················································
16 3 5 全封闭系统中的绝对位置检测系统 ······································
16 3 6 MR Configurator216 - 22
附件
附1 配套设备制造商(参考用) ··································································
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
附3 欧洲新电池指令的符合标志 ···························································
附4 CE标志的符合 ···············································································
附5 UL/CSA标准的符合 ········································································
附6 KC标准的符合 ···············································································
附7 MR-J3-D05安全逻辑模块 ·······························································
附8 EC declaration of conformity ···························································
附9 伺服放大器的谐波抑制对策 ···························································
附10 不进行磁极检测的伺服放大器更换 ·················································
附11 HG-MR・HG-KR用2线式编码器电缆 ················································
附12 三菱电机系统服务产SSCNETⅢ电缆(SC-J3BUS_M-C) ··················
附13 模拟监视器 ······················································································
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发表于 2018-7-23 18:02:03