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首页三菱伺服MR-J3-A安全操作与预防措施
三菱伺服MR-J3-A安全操作与预防措施
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更新于2024-07-28
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"三菱伺服MR-J3-A中文操作手册"
这篇文档是关于三菱伺服放大器MR-J3-A的中文操作手册,旨在提供安装、使用、维修和检查该伺服系统的详细指导。该手册强调了安全注意事项,确保用户在操作过程中避免潜在的危险。
1. 安全注意事项
- 手册中的安全提示分为两个级别:【危险】和【注意】。【危险】标识的事项可能导致死亡或重伤,而【注意】则可能造成中等程度的伤害或轻伤,甚至设备损坏。对于所有标志,用户都需要严格遵守。
- 禁止标志表示绝对不能做的事情,如严禁烟火;而强制标志则表示必须执行的操作,例如设备接地。
- 【要点】部分虽然不会导致物品损坏,但也包含重要的操作建议。
2. 防止触电
- 在进行接线和检查时,务必确保电源关闭并等待至少15分钟,待充电指示灯熄灭,再使用万用表等工具确认无电压,以防触电。
- 伺服放大器和伺服电机应正确接地,确保电气安全。
- 接线和检查工作应由专业技术人员执行。
- 安装完成后才能进行接线,避免触电风险。
- 湿手操作开关可能导致触电,应避免。
- 不要损坏、拉扯或重压电缆,以免触电。
- 通电或运行时禁止打开伺服放大器的盖子,以防触电。
- 卸下伺服放大器盖子后,因高压端子和充电部分暴露,不应运行,以免触电。
- 即使电源关闭,也不要在接线作业和定期检查之外卸下伺服放大器的盖子,以防触电。
3. 防止火灾
- 伺服放大器、伺服电机及再生电阻应安装在非可燃材料上,防止引发火灾。
- 当伺服放大器出现故障时,应及时断开电源,以防止大电流持续流动引发火灾。
- 使用再生电阻时,如有异常信号,应采取相应措施,确保安全。
这份操作手册详细列出了使用三菱伺服MR-J3-A系统时的步骤和安全规定,是用户安全有效操作设备的重要参考。用户在操作前应充分理解并遵循这些指导,以确保人身和设备的安全。
5.1.5
使用绝对位置检测系统
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5.1.6
使用电磁制动器内锁
(MBR) 5- 4
5.1.7
伺服电机
1
转的指令输入脉冲数
5- 5
5.1.8
电子齿轮
5- 6
5.1.9
自动调整
5-10
5.1.10
到位范围
5-11
5.1.11
转矩限制
5-12
5.1.12
选择指令脉冲输入形式
5-13
5.1.13
选择伺服电机转动方向
5-14
5.1.14
编码器输出脉冲
5-14
5.2
增益
/
滤波器参数
(
№
PB
□□
) 5-16
5.2.1
参数一览
5-16
5.2.2
详细一览
5-17
5.2.3
位置平滑
5-25
5.3
扩展设定参数
(
№
PC
□□
) 5-26
5.3.1
参数一览
5-26
5.3.2
详细一览
5-28
5.3.3
模拟监视
5-37
5.3.4
报警履历的清除
5-39
5.4
输入输出设定参数
(
№
PD
□□
) 5-40
5.4.1
参数一览
5-40
5.4.2
详细一览
5-41
5.4.3
根据正转
/
反转行程末端更改停止模式
5-49
6
显示和操作
6- 1
~
6-22
6.1
概要
6- 1 ·························································································································································
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6.2
显示顺序
6- 2
6.3
状态显示
6- 3
6.3.1
显示的变化
6- 3
6.3.2
显示举例
6- 4
6.3.3
状态显示一览
6- 5
6.3.4
状态显示画面的变化
6- 6
6.4
诊断模式
6- 7
6.5
报警模式
6- 9
6.6
参数模式
6-11
6.6.1
参数模式的变化
6-11
6.6.2
操作方法
6-12
6.7
外部输入输出信号表示
6-14
6.8
输出信号
(DO)
强制输出
6-17
6.9
试运行模式
6-18
6.9.1
模式的切换
6-18
6.9.2
JOG
运行
6-19
6.9.3
定位运行
6-20
6.9.4
无电机运行
6-22
7
一般的增益调整
7- 1
~
7-12
- 3 -
www.plcworld.cn
7.1
调整方法的种类
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7.1.1
直接在伺服放大器上调整
7- 1
7.1.2
通过伺服设置软件调整
7- 2
7.2
自动调整
7- 3
7.2.1
自动调整模式
7- 3
7.2.2
自动调整模式的动作
7- 4
7.2.3
自动调整的调整顺序
7- 5
7.2.4
在自动调整模式下设定响应
7- 6
7.3
手动模式
7- 7
7.4
插补模式
7-11
7.5
自动调整与
MELSERVO-J2-Super
系列的区别
7-12
8
特殊调整功能
8- 1
~
8-16
8.1
功能方框图
8- 1 ··············································································································································
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8.2
自适应滤波器Ⅱ
8- 1
8.3
机械共振抑制滤波器
8- 4
8.4
高级振动抑制控制
8- 6
8.5
低通滤波器
8-11
8.6
增益切换功能
8-11
8.6.1
用途用途
8-11
8.6.2
功能方框图
8-12
8.6.3
参数
8-13
8.6.4
增益切换的动作
8-15
9
故障处理
9- 1
~
9-10
9.1
报警 警告一览表・
9- 1 ···································································································································
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9.2
报警处理方法
9- 2
9.3
警告处理方法
9- 8
10
外形尺寸图
10- 1
~
10- 8
10.1
伺服放大器
10- 1 ··········································································································································
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接头
(CN1
用
) 10- 7
11
特性
11- 1
~
11- 6
11.1
过载保护特性
11- 1 ······································································································································
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11.2
电源设备容量和发生损耗
11- 2
11.3
动态制动器特性
11- 4
11.4
线缆弯曲寿命
11- 6
11.5
主电路
/
控制电路电源接通时的串入电流
11- 6
12
选件和外部设备
12- 1
~
12-54
12.1
线缆
/
接头装置
12- 1 ·····································································································································
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线缆
/
接头装置的组合
12- 2
- 4 -
www.plcworld.cn
12.1.2
编码器线缆
/
接头装置
12- 7 ···················································································································
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12.1.3
电机电源线缆
12-16
12.1.4
电机制动器线缆
12-18
12.2
再生选件
12-20
12.3
制动单元
12-27
12.4
电源再生转换器
12-29
12.5
中继端子台
MR-TB50 12-32
12.6
MR Configurator 12-34
12.7
电池单元
MR-J3BAT 12-37
12.8
推荐电线
12-38
12.9
无熔丝断路器
/
熔丝
/
电磁接触器(推荐品)
12-41
12.10
功率改善
DC
电抗器
12-42
12.11
功率改善
AC
电抗器
12-43
12.12
继电器
(
推荐品
) 12-44
12.13
浪涌吸收器
(
推荐品
) 12-44
12.14
噪声对策
12-45
12.15
漏电断路器
12-50
12.16
EMC
滤波器
(
推荐品
) 12-52
13
通信功能
13- 1
~
13-36
13.1
构成
13- 1 ·····················································································································································
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13.2
通信规格
13- 3
13.2.1
通信概要
13- 3
13.2.2
参数设定
13- 3
13.3
通信协议
13- 4
13.3.1
发送数据的构成
13- 4
13.3.2
字符代码
13- 5
13.3.3
错误代码
13- 6
13.3.4
和校验
13- 6
13.3.5
超时
13- 6
13.3.6
重试
13- 7
13.3.7
初始化初期化
13- 7
13.3.8
通信顺序举例通信手順例
13- 8
13.4
命令
/
数据
NO.
一览
13- 9
13.4.1
读出命令
13- 9
13.4.2
写入命令
13-13
13.5
命令详细一览说明
13-15
13.5.1
数据处理
13-15
13.5.2
状态显示
13-17
13.5.3
参数
13-18
13.5.4
外部输入输出信号状态
(DIO
诊断
) 13-21
13.5.5
端子的
ON/OFF 13-24
13.5.6
输入输出端子
(DIO)
的禁止
/
解除
13-25
13.5.7
输入端子的
ON/OFF(
试运行用
) 13-26
13.5.8
试运行模式
13-27
13.5.9
输出信号管脚的
ON/OFF(
输出信号
(DO)
强制输出
) 13-31
- 5 -
www.plcworld.cn
13.5.10
报警履历
13-32 ···································································································································
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13.5.11
当前报警
13-33
13.5.12
其他的命令
13-34
14
绝对位置检测系统
14- 1
~
14-64
14.1
概要
14- 1 ·····················································································································································
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14.1.1
特征
14- 1
14.1.2
限制事项
14- 2
14.2
规格
14- 3
14.3
电池的安装方法
14- 4
14.4
标准连接举例
14- 5
14.5
信号说明
14- 6
14.6
启动顺序
14- 7
14.7
绝对位置数据传输协议
14- 8
14.7.1
数据传输顺序
14- 8
14.7.2
传输方法
14- 9
14.7.3
设置原点
14-18
14.7.4
带电磁制动器的伺服电机的使用
14-20
14.7.5
检测到行程末端时的处理方法
14-21
14.8
使用举例
14-22
14.8.1
MELSEC FX
(2N)-32MT(FX(2N)-1PG) 14-22
14.8.2
MELSEC A1SD75 14-34
14.8.3
MELSEC QD75 14-47
14.9
绝对位置数据传输错误
14-56
14.9.1
错误的处理方法
14-56
14.9.2
错误的解除条件
14-58
14.10
通过通信的绝对传输方式
14-59
14.10.1
串行通信命令
14-59
14.10.2
绝对位置数据传输协议
14-59
14.11
绝对位置检测数据的确认
14-63
附录
附录
- 1
~附录
- 8
附录
1.
参数一览 附录
- 1 ·······································································································································
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附录
2.
信号排列记录纸 附录
- 3
附录
3.
状态显示方框图 附录
- 4
附录
4.
伺服放大器的高调波抑制对策 附录
- 5
附录
5.
外部设备生产商
(
仅供参考
)
附录
- 7
附录
6.
伺服放大器和伺服电机的匹配 附录
- 8
- 6 -
www.plcworld.cn
1.功能和构成
MELSERVO
1
功能和构成
1.1
概要
三菱通用伺服
MELSERVO-J3
系列是在
MELSERVO-J2-Super
系列基础上开发的性能更
高、功能更丰富的交流伺服。
控制模式有位置控制、速度控制和转矩控制三种。还可以选择位置
/
速度切换控制,速度
/
转矩切换控制和转矩
/
位置切换控制。所以本伺服不但可以用于机床和普通工业机械的高
精度定位和平滑的速度控制,还可以用于线控制和张力控制等,应用范围十分广泛。
此外,本产品有
USB
和
RS-422
串行通信功能,可以使用装有伺服设置软件的个人计算机,
进行参数的设定、试运行、状态显示的监控和增益调整等。
本产品的实时自动调整功能可以根据机械自动调整伺服的增益。
MELSERVO-J3
系列伺服电机采用了分辨率为
262144
脉冲
/
转的绝对位置编码器,与
MELSERVO-J2-Super
系列相比,可以进行更高精度的控制。伺服放大器只需安装电池,
就可以构成绝对位置检测系统。这样,只需进行一次原点设定,在电源开启和报警发生
时就不再需要原点回归。
(1)
位置控制模式
可以使用最大
1Mpps
的高速脉冲串对电机的转动速度和方向进行控制,执行分辨率为
262144
脉冲
/
转的高精度定位。
另外还提供了位置平滑功能,可以根据机械情况从两种模式中进行选择。当位置指令
脉冲急剧变化时,可以实现更平稳的启动和停止。
由于急剧加减速或过载产生的主电路过流会影响功率晶体管,所以伺服放大器采用了
嵌位电路以限制转矩。转矩的限制可用通过外部模拟量输入或参数设置的方式调整。
(2)
速度控制模式
通过外部模拟速度指令
(DC0
~±
10V)
或参数设置的内部速度指令
(
最大
7
速
)
,可 对
伺服电机的速度和方向进行高精度的平稳控制。
另外,还具有用于速度指令的加减速时间常数设定功能、停止时的伺服锁定功能和用
于外部模拟量速度指令的偏置自动调整功能。
(3)
转矩控制模式
通过外部模拟量转矩输入指令
(DC0
~±
8V)
或参数设置的内部转矩指令可以控制伺
服电机的输出转矩。具有速度限制功能(外部或内部设定),可以防止无负载时电机
速度过高,本功能可用于张力控制等场合。
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