HG Moter Instruction Manual

A - 1

Ch Dn An Ton Vui lng c k cc ch dn an ton trc khi s dng thit b.

Khng th ci t, vn hnh, bo tr hay kim tra thit b cho n khi c k ton b ti liu hng

dn s dng v cc ti liu km theo v c th vn hnh thit b mt cch chun xc. Khng s dng thit b

khi cha c kin thc y v ton din v thit b, thng tin, ch dn an ton cho thit b. Trong ti liu ny, ch dn an ton c chia ra hai cp l CNH BO v THN TRNG.

Cnh Bo Ch ra rng: Thao tc sai c th gy ra nhng tnh hung nguy him,

dn n gy nguy him n tnh mng hoc gy nhng tn thng nghim trng.

Thn Trng Ch ra rng: Thao tc sai c th gy ra nhng tnh hung nguy him, c th dn n nhng tn thng va v nh cho ngi hoc cc tn tht

vt l khc.

Ch rng mc THN TRNG cng c th gy ra nhng hu qu nghim trng ty theo tng iu

kin. Hy vui lng lm theo cc ch dn ca c hai mc bi chng rt quan trng cho s an ton ca

ngi vn hnh.

Vic khng c lm v vic cn phi lm c ch th bi nhng biu tng di y.

Ch th vic khng c lm. V d Cm La c ch th bi : .

Ch th vic cn phi lm. V d: Ni t c ch th bi : .

trong cun ti liu ny, nhng ch dn cp thp hn hai cp trn, hoc nhng ch dn cho cc chc

nng khc..vv c phn loi vo im Lu .

Sau khi c xong ti liu hng dn s dng ny, hy lun gi n bn cnh ngi vn hnh.

A - 2

1. trnh tai nn in git, ch nhng iu i y

CNH BO Trc khi thc hin ni dy hay kim tra, hy tt ngun v i t nht 15 pht cho n khi n bo np

tt. Sau th in p gia P+ v N- bng bt th in v nhng dng c khc. Nu khng, tai nn in git c th xy ra. Thm vo , khi xc nhn n bo np tt hay cha, lun lun phi xc nhn t pha trc b iu khin servo.

Ni t ng c servo v b iu khin servo mt cch an ton. Bt c ai tham gia vo qu trnh ni dy hay kim tra u cn phi thnh tho cng vic . Khng th ni dy b iu khin servo v ng c servo cho n khi chng c lp t xong. Nu

khng, c th gy ra tai nn in git. Khng c cp b tn hi, b ko cng, b chu ti hay b b. Nu khng, c th gy ra tai nn in

git.

trnh tai nn in git, hy cch in nhng u ni ca ngun.

2. trnh ha hon, hy ch nhng iu di y

THN TRNG Lp t ng c servo trn nhng vt liu khng chy n. Lp t trc tip hoc gn nhng vt liu d

chy n s dn n ha hon.

Cung cp s bo v cn thit trnh c vt v nhng loi vt liu dn in khc, du v nhng vt liu

d chy n khc ri vo trong ng c.

3. trnh tn thng, hy ch nhng iu di y

THN TRNG Ch s dng nhng mc in p c ch nh trong sch hng dn cho cc u cc. Nu khng, c

th xy ra chy n.

Ni cp n ng cc u cc. Nu khng, c th xy ra chy n.

m bo phn cc ng (+/-). Nu khng, c th xy ra chy n. ng c servo c th nng khi c ngun hoc i khi sau khi ngt ngun. S dng cc bin php bo

h, v d nh bao ph trnh vic tnh c tay hoc cp..vv tip xc vi ng c. Nhit ca ng c servo c th ln n 1000C hoc cao hn ty theo cch lp t v iu kin lm

vic.

Khi ang hot ng, tuyt i khng chm vo r to ca ng c. Nu khng c th dn n tn

thng.

4. Nhng Ch Dn B Xung Nhng ch dn di y cng cn c ch . Thao tc sai c th dn n hng hc, tn thng, git

in .vv.

(1)Vn chuyn v lp t

THN TRNG Vn chuyn ng c mt cch hp l ty theo khi lng ca chng. Ch s dng bu lng vng ca ng c servo cho mc ch vn chuyn. Khng s dng bu lng vng

vn chuyn ng c servo khi ng c c gn ln mt my khc.

.

A - 3

Thn Trng Khng xp chng sn phm ln nhau qu s lng qui nh. Khng vn chuyn ng c servo bng cch cm trc tip dy cp, trc, encoder hay u ni. Khng t vt nng ln thit b.

Thit b cn phi c lp t theo hng quy nh. Khng lp t hay vn hnh ng c servo v b iu khin servo b h hi hoc b thiu b phn no

.

Khng bt khu vc ht, x ca qut lm mt. Nu khng c th s xy ra h hng.

Khng qung, p ng c servo. Cch ly n khi cc loi ti va p. C nh mt cch an ton ng c servo vo my. Nu khng c gn chc ng c c th ri ra trong

qu trnh hot ng. ng c servo c hp s cn c lp t theo hng c qui nh trnh d g du Khi thao tc vi ng c, cn thn trng vi nhng phn sc nh cnh ca ng c.

o c mc rung ng ca ng c sau khi ng c c gn ln my. Rung ng qu ln c

th gy tn hi cho trc, encoder, phanh, b gim tc. Rung ng mnh cn c th lm hng cc im

ni hoc lm lng bu lng. c th iu chnh li khi khi ng thit b, kim tra dng sng p ng m men, dng sng p

ng tc bng cc thit b o c, v m bo rng khng c rung ng no xy ra. Nu rung ng xy ra

do li cao, rung ng c th gy ra nhng tn hi sm cho ng c. S dng cc bin php an ton, v d nh bao ph, trnh s tip xc ngu nhin vi ng c khi

ang hot ng. Khng bao gi c p vo trc ng c, nht l khi ghp ng c vo my. Nu khng c th dn

n hng encoder.

Khng t ti qu qui nh vo trc ng c. Nu khng c th dn n gy trc.

Khi bo qun, s dng thit b, hy m bo nhng yu cu v mi trng di y. Mc Mi trng

Nhit xung quanh Hot ng 00C n 400C (khng ng bng)

Lu tr -150C n 700C (khng ng bng)

m xung quanh Hot ng 80%RH hay thp hn (khng ngng t)

Lu tr

Mi trng xung quanh Trong nh (khng nh sng trc tip), khng c kh n mn, sng m du, bi hay cht bn.

cao Ti a 1000 mt trn mc nc bin

Kh nng chng rung ng

Dng HG-MR /Dng HG-KR X, Y: 49 m/s2

HG-SR51/HG-SR81/HG-SR52(4)/ HG-SR102(4)/HG-SR152(4)/HG-JR53(4)/ HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/ HG-JR203(4)/HG-JR353(4)/HG-JR503(4)/ HG-JR11K1M(4)/HG-JR15K1M(4)/ HG-JR22K1M(4)/Dng HG-RR /

HG-UR72/HG-UR152

X, Y: 24.5 m/s2

HG-SR121/HG-SR201/HG-SR202(4)/

HG-SR352(4)/HG-UR202/HG-UR352/HG-UR502

X: 24.5 m/s2

Y: 49 m/s2

HG-SR301/HG-SR421/HG-SR502(4)/

HG-SR702(4)/HG-JR703(4)/HG-JR903(4)

X: 24.5 m/s2 Y: 29.4 m/s2

Ch . Tr ng c servo c hp s.

A - 4

(2) i Dy

THN TRNG Ni dy ng v chc chn. Nu khng, ng c servo c th s hot ng ngoi mong mun. Khng lp t b, b chng t bin, b lc nhiu v tuyn (ty chn FR-BIF-(H)) ln b iu khin servo. trnh hng hc, ni y n ng u ni cc pha (U, V v W) ca b iu khin servo v ng c

servo. Kt ni trc tip u ra b iu khin servo (U, V v W) n u vo ng c servo (U, V v W), khng

ni qua cng tc t in t. Nu khng, hng hc c th xy ra.

Khng ni thng ngun in xoay chiu vo ng c servo. Nu khng, hng hc c th xy ra.

Khi cp khng c gn cht vo hp u dy, dy cp v hp u dy c th pht nng v tip xc

xu. Hy chc chn rng cp c vn cht vi mt m men qui nh.

(3) Chy th v iu chnh

THN TRNG Trc khi vn hnh, kim tra thng s ci t. Ci t khng ng c th dn n ng c hot ng

ngoi kim sot.

Khng bao gi c thay i thng s qu mnh v n c th gy ra mt n nh vn hnh. (4)S dng

THN TRNG Cung cp mch dng khn cp bn ngoi m bo rng c th dng vn hnh v tt ngun ngay

lp tc. Khng lm xc mt bao ph bi vt cng hoc ra mt bao ph bng dung mi hu c. Lm vy c th dn n n mn b mt.

Khng tho d, sa cha, sa i thit b. S dng b iu khin servo cng vi ng c servo c ch nh. Phanh in t ca ng c servo c thit k gi trc ng c, khng s dng cho tc v phanh

thng thng.

V nhng l do nh tui th v cu trc c kh (v d: v tr ni gia trc vt me bi v ng c thng qua

ai dn ng), Phanh in t c th khng gi trc ng c. m bo an ton, lp t b hm pha

ng c.

U

ng c servo

M V

W

U

V

W

U

M V

W

U

V

W

B iu khin servo ng c servo B iu khin servo

A - 5

(5)Hot ng sa li

THN TRNG Khi nhn thy nguy him c th xy ra do mt in hay do sn phm h hng, hy s dng ng c

servo vi mt b phanh in t hoc phanh ngoi ngn chn tnh hung xy ra.

Ci t b phanh in t sao cho n c th c kch hot bi cng tc dng khn cp bn ngoi.

Khi bt k bo ng no xut hin, cch ly nguyn nhn, m bo an ton v tt bo ng trc khi ti

khi ng .

C bin php bo v thch hp ngn chn ti khi ng ngoi mong mun sau khi mt ngun tc

thi.

(6)Lu Tr

THN TRNG Lu nhng iu di y khi lu tr ng c mt thi gian di (3 thng tr ln). Lun lun lu tr ng c servo trong nh, ni sch v kh. Nu lu tr ng c ti ni bi bm, m t th phi s dng nhng bin php thch hp nh bo ph

ton b sn phm. Nu kh nng cch in ca dy qun suy gim, kim tra li cch bo qun. Mc d ng c servo c chng bi trc khi vn chuyn bng sn hoc du chng bi, bi vn

c th to thnh trong qu trnh lu tr ty thuc v iu kin v thi gian lu tr. Nu lu tr ng c servo lu hn 6 thng, s dng li du chng bi v g c bit l b mt lm vic

ca trc ng c..vv. Trc khi ti s dng sn phm sau mt thi gian di lu tr, hy quay trc ng c bng tay m

bo rng mi th u bnh thng. Khi ng c c phanh in t, kim tra n sau khi nh phanh bng cch cp ngun cho phanh.

Khi ng c c lu tr trong mt thi gian di, hy lin h vn phng bn hng a phng.

(7) Ch dn chung

Nhm m t chi tit, cc thit b trong nhng biu ca cun sch ny c v khng c v hay cc

b phn gi an ton. Khi thit b hot ng, v v thit b an ton cn c ci t theo ch nh. Mi s

vn hnh cn tun theo cc thng s k thut v sch ch dn.

ng c servo

Phanh in t

B

RA

Tip im cn c m Vi cng tc EMG.

Tip im cn c m khi ALM (li) hoc MBR (Kha lin ng phanh in t) mt in

24 V DC

A - 6

Tiu Hy Rc Vui lng tiu hy ng c servo v cc ty chn i km theo lut nh ca a phng bn.

> Cc n v ring ca Hoa K khng c th hin trong cun sch ny. Hy chuyn i gi tr nu cn thit theo bng di y.

Cht lng H SI H Hoa K

Khi lng 1 [kg] 2.2046 [lb]

di 1 [mm] 0.03937 [inch]

M men 1 [Nm] 141.6 [ozinch]

M men qun tnh 1 [( 10-4kgm2)] 5.4675 [ozinch2]

Ti(ti y/ti dc trc) 1 [N] 0.2248 [lbf]

Nhit N [C] 9/5 + 32 N [F]

Mc Lc

1. Li Gii Thiu 1- 1 ti 1- 4

1.1 Bin thng s .................................................................................................................................... 1- 1

1.2 Nhn dng cc thnh phn ............................................................................................................... 1- 1

1.3 Phanh in t ................................................................................................................................... 1- 2

1.4 Hnh dng ca trc ng c ............................................................................................................. 1- 4

2. Lp t 2- 1 ti 2- 6

2.1 Hng lp t ................................................................................................................................... 2- 2

2.2 Qut lm mt .................................................................................................................................... 2- 2

2.3 Cnh bo loi b ti .......................................................................................................................... 2- 3

2.4 Ti cho php t ln trc .................................................................................................................. 2- 4

2.5 Bo v khi du v nc .................................................................................................................. 2- 4

2.6 Dy cp ............................................................................................................................................. 2- 5

2.7 ng c servo c vng m chn du ............................................................................................. 2- 5

2.8 Kim tra ............................................................................................................................................. 2- 5

2.9 Tui th phc v ca cc thnh phn ............................................................................................... 2- 6

2.10 chnh xc ca my .................................................................................................................... 2- 6

3. u Ni Dng Ni Dy ng C Servo 3- 1 ti 3-12

3.1 La chn u ni .............................................................................................................................. 3- 1

3.2 u ni dy (Cu hnh u ni A/B/C) ............................................................................................. 3- 3

3.3 u ni dy (cu hnh u ni D/E/F/G/H) ....................................................................................... 3- 5

3.4 u ni dy (Cu hnh u ni J/K/L/M/N) ....................................................................................... 3- 9

4. Kt Ni Ca B iu khin servo V ng C Servo 4- 1 ti 4-20

4.1 Ch dn kt ni .................................................................................................................................. 4- 2

4.2 Ni dy .............................................................................................................................................. 4- 3

4.2.1 ng c servo dng HG-MR /dng HG-KR ............................................................................... 4- 3

4.2.2 ng c servo dng HG-SR/dng HG-JR/dng HG-RR/HG-UR .............................................. 4- 8

4.3 V d v la chn dy ...................................................................................................................... 4-14

4.4 Phn u cc ca b iu khin servo ........................................................................................... 4-17

5. Ty Chn Ni Dy 5- 1 ti 5-28

5.1 B Cp/u ni ................................................................................................................................. 5- 1

5.1.1 S kt hp ca cc gi cp/u ni .......................................................................................... 5- 2

5.1.2 Danh sch cp/u ni .............................................................................................................. 5- 3

5.2 B cp encoder/u ni .................................................................................................................... 5- 8

5.3 Cp ngun ca ng c servo ........................................................................................................ 5-23

5.4 Cp phanh in t ........................................................................................................................... 5-24

5.5 Dy cho cp ty chn ...................................................................................................................... 5-26

6. Dng HG-MR/Dng HG-KR 6- 1 ti 6-58

6.1 nh ngha m kiu my ................................................................................................................... 6- 1

6.2 Danh sch cc s kt hp ca ng c servo v b iu khin servo............................................ 6- 2

6.3 Cc thng s tiu chun ................................................................................................................... 6- 3

6.3.1 Danh sch cc thng s tiu chun ........................................................................................... 6- 3

6.3.2 c tnh m men ........................................................................................................................ 6- 5

6.4 c tnh ca phanh in t .............................................................................................................. 6- 6

6.5 ng c servo vi trc c bit ........................................................................................................ 6- 7

6.5.1 Trc kha (vi kha trn 2 u) ................................................................................................. 6- 7

6.5.2 Trc ct ch D ............................................................................................................................ 6- 7

6.6 ng c servo c hp s .................................................................................................................. 6- 8

6.6.1 Cho my cng nghip ni chung (G1) ....................................................................................... 6- 8

6.6.2 Cho cc ng dng chnh xc cao (G5/G7) ............................................................................... 6-11

6.7 Gn cc u ni ............................................................................................................................... 6-14

6.8 Cc kch thc ................................................................................................................................ 6-15

6.8.1 Tiu chun (khng c phanh in t v hp gim tc)............................................................. 6-15

6.8.2 Vi phanh in t ...................................................................................................................... 6-18

6.8.3 Cho my cng nghip ni chung c hp gim tc (khng c phanh in t) .......................... 6-21

6.8.4 Cho my cng nghip ni chung c hp gim tc (c phanh in t) ..................................... 6-28

6.8.5 Vi hp gim tc u ra bng mt bch cho ng dng chnh xc cao, gn bng mt bch (khng

c phanh in t) ...................................................................................................................... 6-34

6.8.6 Vi hp gim tc u ra bng mt bch cho ng dng chnh xc cao, gn bng mt bch (c

phanh in t) ........................................................................................................................... 6-40

6.8.7 Vi hp gim tc u ra bng trc cho ng dng chnh xc cao, gn bng mt bch (khng c

phanh in t) ........................................................................................................................... 6-46

6.8.8 Vi hp gim tc u ra bng trc cho ng dng chnh xc cao, gn bng mt bch (c phanh

in t) ...................................................................................................................................... 6-52

7. Dng HG-SR 7- 1 ti 7-96

7.1 nh ngha m kiu my ................................................................................................................... 7- 1


7.3 Cc thng s tiu chun ................................................................................................................... 7- 3


7.3.2 c tnh m men ........................................................................................................................ 7- 6

7.4 c tnh ca phanh in t .............................................................................................................. 7- 8


7.6 ng c servo c hp s ................................................................................................................. 7-10

7.6.1 Cho my cng nghip ni chung (G1/G1H) .............................................................................. 7-10

7.6.2 Cho cc ng dng chnh xc cao (G5/G7) ............................................................................... 7-14

7.7 Cc kch thc ................................................................................................................................ 7-17

7.7.1 Tiu chun (khng c phanh in t v hp gim tc)............................................................. 7-17

7.7.2 Vi phanh in t ...................................................................................................................... 7-20

7.7.3 Cho my cng nghip ni chung vi hp gim tc (khng c phanh in t) ......................... 7-27

7.7.4 Cho my cng nghip ni chung vi hp gim tc (c phanh in t) .................................... 7-37

7.7.5 Cho my cng nghip ni chung vi hp gim tc (gn bng chn/c phanh in t) .......... 7-47

7.7.6 Cho my cng nghip ni chung vi hp gim tc (gn bng chn/

c phanh in t) ................................................................................................................................ 7-57

7.7.7 Vi hp gim tc u ra bng mt bch cho ng dng chnh xc cao, gn bng mt bch (khng

c phanh in t) ...................................................................................................................... 7-68

7.7.8 Vi hp gim tc u ra bng mt bch cho ng dng chnh xc cao, gn bng mt bch (c

phanh in t) ........................................................................................................................... 7-75

7.7.9 Vi hp gim tc u ra bng trc cho ng dng chnh xc cao, gn bng mt bch (khng c

phanh in t) ........................................................................................................................... 7-82

7.7.10 Vi hp gim tc u ra bng trc cho ng dng chnh xc cao, gn bng mt bch (c phanh

in t) .................................................................................................................................... 7-89

8. Dng HG-JR 8- 1 ti 8-32

8.1 K hiu kiu my ............................................................................................................................... 8- 1


8.3 Cc thng s tiu chun ................................................................................................................... 8- 4


8.3.2 c tnh m men ........................................................................................................................ 8- 9

8.4 c tnh ca phanh in t ............................................................................................................. 8-11

8.5 ng c servo vi trc c bit ....................................................................................................... 8-12

8.6 Vng m chn du ......................................................................................................................... 8-13

8.7 Qut lm mt ................................................................................................................................... 8-13

8.8 Cc kch thc ................................................................................................................................ 8-14

8.8.1 S chi tit hp u dy (HG-JR22K1M(4)) .......................................................................... 8-14

8.8.2 Tiu chun (khng c phanh in t) ....................................................................................... 8-14

8.8.3 C phanh in t....................................................................................................................... 8-23

9. Dng HG-RR 9- 1 ti 9-12

9.1 K hiu kiu my ............................................................................................................................... 9- 1


9.3 Cc thng s tiu chun ................................................................................................................... 9- 2


9.3.2 c tnh m men ........................................................................................................................ 9- 4

9.4 c tnh ca phanh in t .............................................................................................................. 9- 5


9.6 Vng m chn du .......................................................................................................................... 9- 6

9.7 Cc kch thc ................................................................................................................................. 9- 7

9.7.1 Tiu chun (khng c phanh in t) ........................................................................................ 9- 7

9.7.2 Vi phanh in t ....................................................................................................................... 9- 9

10. Dng HG-UR 10- 1 ti 10-12

10.1 K hiu kiu my ............................................................................................................................ 10- 1

10.2 Danh sch cc s kt hp ca ng c servo v b iu khin servo ......................................... 10- 1

10.3 Cc thng s tiu chun ................................................................................................................ 10- 2

10.3.1 Danh sch cc thng s tiu chun ........................................................................................ 10- 2

10.3.2 c tnh m men ..................................................................................................................... 10- 4

10.4 c tnh ca phanh in t ............................................................................................................ 10- 5

10.5 ng c servo vi trc c bit ..................................................................................................... 10- 6

10.6 Vng m chn du ....................................................................................................................... 10- 6

10.7 Cc kch thc ............................................................................................................................... 10- 7

10.7.1 Tiu chun (khng c phanh in t) ..................................................................................... 10- 7

10.7.2 Vi phanh in t .................................................................................................................... 10- 9

Ph Lc Ph. - 1 ti Ph. -32

PhL. 1 M ID ca ng c servo ...................................................................................................... Ph.- 1

PhL. 2 Danh sch nh sn xut ........................................................................................................ Ph.- 2

PhL. 3 Theo nh du CE ................................................................................................................. Ph.- 3

PhL. 4 Theo tiu chun UL/CSA ....................................................................................................... Ph.- 4

PhL. 5 Phng php tnh ton thit k ............................................................................................. Ph.- 7

PhL. 6 V d v chn cp cho ng c servo .................................................................................. Ph.-25

PhL. 7 u ni un cho CNP3_ ....................................................................................................... Ph.-26

PhL. 8 Cc kch thc ca u ni .................................................................................................. Ph.-27

1. Li Gii Thiu

1 - 1

1. Li Gii Thiu

1.1 Bin thng s

Di y l mt v d v bin thng s v li gii thch cho tng mc.

Ch 1. Thng v nm sn xut ca ng c servo c ch ra trn s s ri ca bin

thng s. Thng v nm c ch ra thng qua 2 s cui ca nm v mt s cu thng [1 ti 9, X(10), Y(11), v Z(12)] V d thng 1 , 2012, s s ri s l SER._________121

2. Sn phm c chng nhn bi cc c quan chng nhn c nh du. Du hiu ph thuc vo c quan chng nhn

.

1.2 Nhn dng cc phn

(1) ng c servo dng HG-MR /HG-KR

Ch 1.Cp encoder v cp ngun l ty chn.

2.Cp phanh in t ch cn cho ng c c phanh in t.

(2) ng c servo dng HG-SR/HG-JR53(4) ti HG-JR15k1M(4)/dng HG-RR/dng HG-UR

Ch . ng c c phanh in t c cp ring cho phanh in t.

Trc ng c servo

u ni encoder

Encoder

u ni ngun (Ch ) Ngun (U/V/W) Ni t

Cp ngun (Ch 1, 2) u dy ngun (U/V/W) u ni t

Trc ng c servo

Cp encoder (Ch 1)

Encoder

(Ch 2)

Kiu

Ngun u vo v loi cch in

S s ri (Ch 1)

MITSUBISHI ELECTRIC

INPUT 3AC 102V 11A CI. F

HG-

OUTPUT 3000r/min (200Hz)

TI0001234 12X SER

AC SERVO MOTOR

MADE IN JAPAN

QR

MITSUBISHI

1.5kW 5.9kg Tc nh mc

Ngun gc xut x

u ra nh mc v khi lng

1. Li Gii Thiu

1 - 2

(3) ng c servo HG-JR22K1M(4)

1.3 Phanh in t

Thn Trng

Phanh in t c cung cp ngn chn s ri t do khi mt ngun hoc do xut hin cnh bo servo trong cc h truyn ng thng ng hoc gi trc ng c ng yn. Khng s dng phanh in t trong cc tc v phanh thng thng.

Phanh in t c thi gian tr. S dng phanh in t sao cho ng c servo khi ng khi phanh nh hon ton.

Hy kim tra thi gian tr vi my tht. Ci t mch phanh in t sao cho n c th c kch hot bng cng tc

dng khn cp. bit chi tit v cu trc mch v biu nh thi, tham kho sch hng dn

s dng mch iu khin servo. Khi phanh in t m, ng c c th tng nhit bt k h truyn ng no

Tui th c th gim nu hot ng trong mi trng tng gim tc lin tc.

ng c servo c phanh in t c th c s dng ngn s ri t do trong ng dng nng thng

ng hoc m bo an ton kp cho trng hp dng khn cp chng hn. Khi vn hnh ng c

servo, cp ngun cho phanh in t nh phanh, tt ngun bp phanh.

(1) Ngun in ca phanh in t Chun b ngun nh i y, ngun chuyn dng ch s dng cho phanh in t. u ni ca phanh in t (B1 v B2) khng c s phn cc.

B hp th t bin (VAR) cn c lp t gia B1 v B2. la chn v c v d v b hp th t bin, hy tham kho Thng s k thut phanh in t cc chng v tng dng ng c servo.

Khi bn s dng i t lm b hp th t bin, thi gian phanh in t s ko di hn.

Phanh in t

Cng tc

VA

B

U B Ngun 24 V DC Cho phanh in t

B

Phanh in t

Cng tc

VA

B

U B Ngun 24 V DC Cho phanh in t

B

Hoc

u ni encoder

Hp u dy

Trc ng c

Hc ni dy ngun

u ni qut lm mt

1. Li Gii Thiu

1 - 3

(2) To ting n

Mc d phanh c th ku lch cch trong khi hot ng, tuy vy n khng gy ra vn g vi chc nng ca ng c.

Nu phanh ku, ta c th c thin bng cch ci t b lc chng cng hng b khuych i servo, bit chi tit, hy tham kho sch hng dn ca tng b iu khin servo.

(3) Chn b hp th t bin cho mch phanh in t Di y trnh by mt v d v cch chn bin tr vi b hp th t bin

(a) iu kin chn

Phn t iu kin

Thng s k thut ca b phanh in t

R() : in tr L(H) : Cm khng

Vb(V) : in p ngun

in p trit mong mun

Vs(V) hoc thp hn

bn N ln

(b) Chn s b v kim nghim b hp th t bin 1) in p ti a cho php ca bin tr

Tm thi chn mt bin tr c in p ti a cho php ln hn Vb [V]

2) Dng in phanh [ Ib ]

VbIb

R

3) Nng lng ( E ) sn sinh t cun dy ca phanh

2.[J]

2

L IbE

4) in p gii hn ca bin tr (Vi )

T nng lng ( E ) sn sinh trn cun dy ca phanh v biu c tnh ca bin tr, ta tnh ton in p gii hn ca bin tr (Vi ) khi dng in phanh ( Ib ) chy vo bin tr c chn tm thi trong qu trnh m mch.

Vi c coi l t khi in p gii hn ca bin tr (Vi ) [V] nh hn in p ca in p b trit (Vs ) [V]

Nu in p Vi khng nh hn Vs, chn li mt bin tr khc hoc ci thin kh nng chu p ca thit b.

5) rng ca dng t bin ( ) Gi s bin tr hp th ton b nng lng, rng ca dng t bin ( ) c tnh nh di y

[ ].

ES

Vi Ib

6) Kim tra tui th ca bin tr

T biu c tnh cu bin tr, gi tr dng m bo ( pI ) tui th ca ng dng l N vi rng

dng t bin ( ). Tnh ton gi tr dng m bo ( pI ) t l vi dng in ca phanh ( Ib )

Nu m bo c mt gii hn cho t l /p bI I , th tui th ca ng dng N (ln) c xem nh t.

(1) Nhng vn khc

Mt ng lc t r s xut hin ti im cui ca trc ca ng c c phanh in t. Ch rng mt vn, inh c c th b ht vo gy hng hc.

24 V DC

R le

Cun dy ca phanh

U Bin tr

1. Li Gii Thiu

1 - 4

1.4 Hnh dng ca trc ng c servo Cng vi trc thng, ta cn c trc c cht kha v trc ct ch D. Trc c cht kha v trc ct ch D khng c s dng cho cc ng dng cn bt tt thng xuyn V chng ti khng th m bo ng c servo khi nt v hay nhng tai nn tng t do cht lng,

hy s dng khp ly hp ma stvv khi ghp ni trc vi my. Hnh dng trc ca ng c servo tiu chun thay i ty theo dng my v cng sut. Tham kho

chng ring ca cc dng ng c.

Trc c cht kha (vi cht n) ch dng cho ng c c hp s trong cc ng dng i hi chnh

xc cao.

Trc c cht kha (vi cht kha kp trn)

Trc c cht kha ( b cht)

Trc ct ch D

Trc Thng

Trc c cht kha (vi cht kha n nhn)

V tr quan st AA

A

A V tr quan st AA

A

A

2. Lp t

2 - 1

2. Lp t

Cnh bo

Trnh tai tn in git, ni t cc thit b mt cch cn thn.

Thn Trng

Khng xp chng sn phm ln nhau qu s lng qui nh. Lp t thit b ln vt liu khng chy n. Lp t trc tip hoc gn vt

liu d chy n s dn n ha hon. Lp t ng c v b iu khin servo ln ni c kh nng chu ti theo

sch hng dn. Khng t vt nng ln thit b. Nu khng n c th gy ra tn thng S dng thit b trong mi trng c ch nh. bit v mi trng,

xem cc thng s k thut ca loi ng c. ng c servo. Cch ly n khi cc loi ti va p. Khng lp t hay vn hnh mt ng c li. Khng vn chuyn ng c servo bng cch cm trc tip, trc, encoder

hay b ni. Ch s dng bu lng vng ca ng c servo cho mc ch vn chuyn.

Khng s dng bu lng vng vn chuyn ng c servo khi ng c c gn ln mt my khc.

ng c servo c hp s cn c lp t theo hng c qui nh trnh d g du.

C nh mt cch an ton ng c servo vo my. Nu khng c gn chc ng c c th ri ra trong qu trnh hot ng.

o c mc rung ng ca ng c sau khi ng c c gn ln my. Rung ng qu ln c th gy tn hi cho trc, encoder, phanh, b gim tc. Rung ng mnh cn c th lm hng cc im ni hoc lm lng bu lng.

c th iu chnh li khi khi ng thit b, kim tra dng sng p ng m men, dng sng p ng tc bng cc thit b o c, v m bo rng khng c rung ng no xy ra. Nu rung ng xy ra do li cao, rung ng c th gy ra nhng tn hi sm cho ng c.

Khng bao gi c p vo trc ng c, nht l khi ghp ng c vo my. Nu khng c th dn n hng encoder.

Khi ni ri vo ng c, khng s dng khp cng, lm vy c th dn n gy trc hoc mn .

Cn bng ti ht kh nng c th. Khng lm vy c th dn n rung ng trong qu trnh hot ng hoc lm hng trc v encoder.

S dng cc bin php an ton, v d nh bao ph, trnh s tip xc ngu nhin vi ng c khi ang hot ng.

Khng t ti qu qui nh vo trc ng c. Nu khng c th gy ra gy trc, dn n tn thng.

Khi ng c c lu tr trong mt thi gian di, hy lin h i l gn nht.

Khi thao tc vi ng c, cn cn thn vi nhng phn sc nh cnh ca ng c.

2. Lp t

2 - 2

2.1 Hng lp t (1) ng c servo tiu chun

Bng di y th hin hng lp t cho ng c servo tiu chun

Dng ng c Hng lp t

HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR

Mi hng

Khi lp t theo hng nm ngang, khuyn co nn t phn u dy hng xung di. Khi lp

t theo hng thng ng hoc theo hng nghing, ra mt khong h nh u dy.

(2) ng c servo c phanh in t. ng c servo c phanh in t cng c th c lp t cng hng vi ng c servo tiu chun.

Khi ng c servo c phanh in t c lp t sao cho u trc ng c trn cng, b phanh c th sinh ra ting rt khi hot ng nhng khng phi l li.

(3) ng c servo c hp s.

Hng lp t ca ng c servo c hp s thay i ty theo loi ca hp s gim tc. Hy lp t n theo hng c ch nh. Tham kho chng v cc dng ng c servo bit chi tit.

2.2 Qut lm mt.

i vi ng c servo c qut lm mt. t ng c sao cho gia ca ht gi v b mt tng cch nhau mt khong L hoc ln hn. Tham kho chng v dng ng c servo bit khong cch L.

.

ng c Servo

Qut lm mt

L hoc hn

Ht gi

Khe h nh

2. Lp t

2 - 3

2.3 Cnh bo loi b ti

Thn Trng

Khi lp rp, khng c p vo u trc. Nu khng Encoder c th s h

hng.

Khng tc ng n trc trnh gy hi cho encoder v trc.

(1) Khi lp puli vo ng c vi trc c cht kha, s dng l ren trn u trc ng c. lp pu li vo,

trc tin ta lp mt guzong hai u vo l ren ca trc, cho thm mt long en vo mt mt ca ch

ni v vn c y pu li vo.

(2) Vi trc ng c khng c cht kha, s dng khp li hp ma st. (3) Khi loi b pu li, s dng dng c g pu li trnh cho trc phi chu ti nng hoc va p. (4) m bo an ton, thm lp ph bo v hoc mt ci g tng t v khu vc quay. (5) Khi cn mt u trc c ren lp pu li vo trc, vui lng lin h vn phng bn hang ti a phng bn. (6) Khng thay i hng ca encoder trn ng c servo. (7) Khi lp t ng c servo, s dng long en vnh..vv, v vn cht c chng khng b lng do rung ng.

ng c servo

Guzong

c

Long en Pu li

2. Lp t

2 - 4

2.4 Ti cho php t ln trc

Thn Trng Khng s dng khp cng v n c th to ti trng un qu ln ln trc ca

ng c servo, dn n gy trc hoc mn .

bit ti cho php cho tng ng c servo, tham kho chng ca tng dng ng c (1) S dng khp ni mm v iu chnh lch trc t c ti hng tm nh hn gii hn cho php. (2) Khi s dng pu li, bnh xch hay ai dn ng, chn mt ng knh ph hp vi gii hn ti hng tm.

(3) Vt gii hn ti cho php s lm gim tui th ca v gy trc. (4) Ti c ni n trong phn ny l ti tnh khng bao gm ti lch trc. Hy lm ti lch trc cng nh cng tt. Nu khng, ng c c th b h hi. 2.5 Bo v khi du v nc Hy cung cp cc bin php bo v thch hp chng tp cht, nh l du thm vo trc ng c. Khi lp t ng c hy xem xt mc ny. (1) Khng s dng ng c servo c cp dnh nc hoc du

.

(2) Khi ng c servo c lp t vi u trc trn cng, hy cung cp cc bin php ngn chn du v c lt vo ng c t pha my hay hp s.

.

(3) Nu du nh l du ct gt ri vo ng c, cht chng thm, bao b, dy cp v nhng th khc c th b tc ng ty theo tng loi du. (4) Trong mi trng m ng c servo tip xc vi sng m du, du, nc, m..vv, mt s ng c servo tiu chun c th s khng dng c. Vui lng lin h i l gn nht.

Du nht

ng c servo

Lp che ph

Hin tng mao dn

B du/nc

ng c servo

Bnh rng

2. Lp t

2 - 5

2.6 Dy Cp Cp ngun v cp encoder i t ng c cn c gn cht vo ng c gi cho chng c nh,

nu khng c th dn n mt kt ni. Thm na, khng sa i u ni, u cc u dy cp 2.7 ng c servo c vng m chn du

Vi ng c servo c vng m chn du, vng m chn du ngn cn du lt vo ng c, hy lp t n theo ch dn trong mc ny.

C th vng m chn du gy ting n trong qu trnh lm vic, n khng nh hng n chc nng ca ng c.

(1) p sut v mc du Lp t ng c servo nm ngang v t mc du trong hp s thp hn mp ca vng m chn du. Nu mc du cao hn mp ca vng m chn du, du s trn vo ng c v c th gy ra h hng. Tham kho chng v tng dng ng c bit mc du cho php.

.

p sut ln t ln vng m chn du s gy ra n mn, rt ngn tui th. Hy gi p sut trong khng i bng cch lp t mt b thng gi vo hp s. (2) Nhit

Nhit cao t vo mp ca vng m chn du s lm rt ngn tui th ca vng. Trnh mp ca vng bit du tip xc vi du nng, v nhit cho php ca vt liu ln n 1000C v mp vng m chn du tng khong 10 n 150C khi ng c quay ht tc . 2.8 Kim Tra

Cnh bo

Trc khi thc hin bo tr v/hoc kim tra, tt ngun v i t nht 15 pht cho n khi n sc tt. Sau th in p gia P+ v N- bng bt th in v nhng th khc. Nu khng, tai nn in git c th xy ra. Thm vo , khi xc nhn n sc tt hay cha, lun lun phi xc nhn t pha trc b iu khin servo.

trnh tai nn in git, ch nhng i ng tiu chun mi nn tin hnh kim tra, sa cha, thay th, hy lin h vi i l gn nht.

.

Thn Trng

Khch hng khng t tho d, sa cha.

Khuyn co thng xuyn kim tra nhng vn sau (1) Kim tra , phanh nu nh c ting ng l. (2) Kim tra cp v nhng th tng t xem c xc, nt hay khng. c bit l khi dy cp khng c c nh, tin hnh kim tra nh k ty theo iu kin lm vic. (3) Kim tra lch ca trc ng c v khp ni thng xuyn. (4) Kim tra u ni ngun v u ni ca encoder thng xuyn, vn cht li nu b lng.

Bnh rng Trc

ng c servo

Vng bt du

cao trn mt du h

Mp

2. Lp t

2 - 6

2.9 Tui th phc v ca cc thnh phn Tui th phc v ca tng phn c lit k bn di. Tuy nhin, tui th phc v bin i ty theo nhim v v mi trng lm vic. Nu li c pht hin bt c phn no, n cn phi c thay th ngay bt chp tui i phc v l bao nhiu. thay th cc b phn, hy lin h vi i l gn nht.

Tn phn t Tui th

20000 n 30000 gi

Encoder 20000 n 30000 gi

Qut lm mt 20000 gi

Vng m chn du

5000 gi

(1) Khi ng c servo hot ng tc nh mc v ti nh mc, nn c thay th sau 20000 n 30000 gi nh ch dn trong bng trn. Thi gian ny bin i ty theo iu kin lm vic. cng nn c thay khi c ting ng l xut hin trong qu trnh kim tra. (2) Vng m chn du (tnh c vng m chn du dng trong hp gim tc) Vng m chn du cn c thay mi sau 5000 gi hot ng tc nh mc, nh ch dn trong bng trn. N cng cn c thay mi nu pht hin d g du trong qu trnh kim tra. Chc nng khng c vn g ngay c khi vng m chn du ku trong khi hot ng. 2.10 chnh xc ca my Bng di y a ra chnh xc ca ng c servo quanh trc u ra v mt lp rp. (tr nhng sn phm ty bin)

chnh xc [mm] im o c

Kch thuc mt bch

100x100 hoc nh

hn

130 x 130 176x176 ti 250x250

280x280 hoc hn

Ra mt bch ti trc ra a) 0.05 0.06 0.08 0.08

Ra mt bch m b) 0.04 0.04 0.06 0.08

Ra u trc c) 0.02 0.02 0.03 0.03

b)

c)

a) A

A

A

3. u ni s dng ni dy ng c servo

3 - 1

3. u ni dng ni dy ng c servo

im Lu

Ch s IP c trng cho kh nng chng xm nhp ca bi bn v nc khi u

ni c ni vo ng c servo hoc b iu khin servo. Nu ch s IP ca

u ni, ca b iu khin servo v ca ng c servo khc nhau th ch s IP

tng s ph thuc vo ch s IP thp nht ca tt c cc thnh phn.

3.1 La chn u ni S dng cu hnh u ni nh trong bng kt ni vi ng c servo tng ng. Tham kho mc 3.2 v 3.3 bit nhng cu hnh u ni tng thch. (1) Dng HG-MR v dng HG-KR

ng c servo u ni dy

Cho encoder Cho ngun in Cho phanh in t

HG-MR_ Cu hnh A Cu hnh B Cu hnh C

HG-KR_

(2) Dng HG-SR

ng c servo u ni dy

Cho encoder Cho ngun Cho phanh in t

HG-SR51 HG-SR81

Cu hnh D

Cu hnh E

Cu hnh H

HG-SR52(4) HG-SR102(4) HG-SR152(4)

HG-SR121 HG-SR201 HG-SR301

Cu hnh G

HG-SR202(4) HG-SR352(4) HG-SR502(4

HG-SR421 Cu hnh H

HG-SR702(4)

u ni encoder u ni ngun

u ni phanh in t

u ni encoder u ni phanh in t u ni ngun


3 - 2

(3) Dng HG-JR

HG-JR53(4) ti HG-JR11K1M(4)

HG-JR22K1M(4)

ng c Servo u ni dy

Cho encoder Cho ngun in Cho phanh in t Cho qut lm mt

HG-JR53(4)

HG-JR73(4)

HG-JR103(4)

HG-JR153(4)

HG-JR203(4)

HG-JR3534

HG-JR5034 Cu hnh u ni D

Cu hnh u ni E

Cu hnh u ni F

HG-JR353

HG-JR503 Cu hnh u ni G

HG-JR703(4)

HG-JR903(4) Cu hnh u ni H

HG-JR11K1M(4)

HG-JR15K1M(4) Cu hnh u ni K

Cu hnh u ni J

HG-JR22K1M(4) Khng c (Hp u

dy) Cu hnh u ni L

(4) Dng HG-RR

ng c servo u ni dy

Cho encoder Cho ngun Cho phanh in t

HG-RR103 HG-RR153 HG-RR203

Cu hnh u ni D

Cu hnh u ni N

Dng chung vi ngun ng c HG-RR353

HG-RR503 Cu hnh u ni M

u ni ngun u ni encoder

u ni Encoder u ni qut lm mt

u ni phanh in t u ni encoder

u ni ngun


3 - 3

(5) Dng HG-UR

ng c Servo u ni dy

Cho encoder Cho ngun in Cho phanh in t

HG-UR72

HG-UR152

Cu hnh u ni D

Cu hnh u ni N Dng chu vi ngun

in (ch )

HG-UR202

HG-UR352

HG-UR502

Cu hnh u ni M Cu hnh u ni J

Ch . u ni cho phanh in t l khng cn thit v u ni ngun c mt chn dnh cho phanh

in t.

3.2 u ni dy (Cu hnh u ni A/B/C) Nhng u ni mc ny tun theo chun UL/CSA

.

Cu hnh u ni c tnh

u ni dy Dng c kp u ni encoder ca ng c servo(ch )

A

(cho encoder) IP65

u ni: 2174053-1

(Kt ni TE)

Cho kp tip t: 1596970-1

Cho tip im REC. : 1596847-1

(Kt ni TE)

1674339-1

(Kt ni TE)

Ch . u ni pha bn kia

Cu hnh u ni c tnh

u ni dy Dng c kp u ni encoder ca ng c servo (ch )

B

(Cho ngun) IP65

u ni: KN4FT04SJ1-R

Tip im: ST-TMH-S-C1B-100 (A534G)

(JAE)

CT160-3-TMH5B

(JAE)

JN4AT04NJ1

(JAE)


u ni encoder

u ni ngun


3 - 4

Cu hnh u ni c tnh

u ni dy Dng c kp u ni encoder ca ng c servo (ch )

C

(cho phanh in

t)

IP65

u ni: JN4FT02SJ1-R

Tip im: ST-TMH-S-C1B-100 (A534G)

(JAE)

CT160-3-TMH5B

(JAE)

JN4AT02PJ1

(JAE)



3 - 5

3.3 u ni dy (cu hnh u ni D/E/F/G/H)

Cu hnh

u ni c tnh

Phch cm (DDK) u ni

encoder ng

c servo (ch

) Loi Phch cm Tip im cm Hnh dng tip im

Cp OD

[mm]

(tham kho)

D

(cho

encoder)

IP67

Thng

CMV1-SP10S-M1

(Loi kt ni 1 chm)

CMV1S-SP10S-M1

(loi c ren)

CMV1-#22ASC-S1-100

Loi hn

C dy kh dng: AWG 20 hoc

nh hn

5.5 ti 7.5

CMV1-R10P

CMV1-#22ASC-C1-100

Loi kp

C dy kh dng: AWG 24 ti 20

Dng c kp cn thit (357J-

53162T) .

CMV1-#22ASC-C2-100

Loi kp



53163T) .

CMV1-SP10S-M2

(Loi kt ni 1 chm)

CMV1S-SP10S-M2

(loi c ren)

CMV1-#22ASC-S1-100

Loi hn


nh hn

7.0 ti 9.0 CMV1-#22ASC-C1-100

Loi kp



53162T) .

CMV1-#22ASC-C2-100

Loi kp



53163T) .

Gp

CMV1-AP10S-M1

(Loi kt ni 1 chm)

CMV1S-AP10S-M1

(loi c ren)

CMV1-#22ASC-S1-100

Loi hn


nh hn

5.5 ti 7.5 CMV1-#22ASC-C1-100

Loi kp



53162T) .

CMV1-#22ASC-C2-100

Loi kp



53163T) .

CMV1-AP10S-M2

(Loi kt ni 1 chm)

CMV1S-AP10S-M2

(loi c ren)

CMV1-#22ASC-S1-100

Loi hn


nh hn

7.0 ti 9.0 CMV1-#22ASC-C1-100

Loi kp



53162T) .

CMV1-#22ASC-C2-100

Loi kp



53163T) .


Phch cm gp (loi c ren)

Phch cm gp (Loi kt ni 1 chm)

Phch cm thng (loi c ren)

Phch cm thng (Loi kt ni 1 chm)


3 - 6

Cu hnh

u ni c tnh

Phch cm (DDK) Cht gi cp (DDK) u ni ngun ng

c servo

(Ch 2) Loi Kiu

Cp OD

[mm] (tham kho) Kiu

E

(Cho

ngun)

IP67

Theo EN

Thng CE05-6A18-10SD-D-BSS


8.5 ti 11 CE3057-10A-2-D

MS3102A18-10P

10.5 ti 14.1 CE3057-10A-1-D

Gp CE05-8A18-10SD-D-BAS


8.5 ti 11 CE3057-10A-2-D

10.5 ti 14.1 CE3057-10A-1-D

(Ch 1)

Mi trng

chung

Thng D/MS3106B18-10S

C dy kh dng: AWG 14 ti 12 14.3 hoc nh hn

(v ID) D/MS3057-10A

Gp D/MS3108B18-10S


Ch 1.Khng theo EN.

2. u ni pha bn kia.

Cht gi cp Cp Cht gi cp Cp Phch cm Phch cm


3 - 7

Cu hnh

u ni c tnh

Phch cm (DDK) u ni phanh

in t ca

ng c servo

(Ch )

Loi Phch cm Tip im cm Hnh dng tip im

Cp OD

[mm]

(tham kho)

F

(Cho phanh

in t)

IP67

Thng

CMV1-SP2S-S

(Loi kt ni 1 chm)

CMV1S-SP2S-S

(Loi c ren)

CMV1-#22BSC-S2-100

Loi hn


nh hn

4.0 ti 6.0

CMV1-R2P

CMV1-#22BSC-C3-100

Loi kp



53164T) .

CMV1-SP2S-M1

(Loi kt ni 1 chm)

CMV1S-SP2S-M1

(Loi c ren)

CMV1-#22BSC-S2-100

Loi hn


nh hn

5.5 ti 7.5

CMV1-#22BSC-C3-100

Loi kp



53164T) .

CMV1-SP2S-M2

(Loi kt ni 1 chm)

CMV1S-SP2S-M2

(Loi c ren)

CMV1-#22BSC-S2-100

Loi hn


nh hn

7.0 ti 9.0

CMV1-#22BSC-C3-100

Loi kp



53164T) .

CMV1-SP2S-L

(Loi kt ni 1 chm)

CMV1S-SP2S-L

(Loi c ren)

CMV1-#22BSC-S2-100

Loi hn


nh hn

9.0 ti 11.6

CMV1-#22BSC-C3-100

Loi kp



53164T) .

Gp

CMV1-AP2S-S

(Loi kt ni 1 chm)

CMV1S-AP2S-S

(Loi c ren)

CMV1-#22BSC-S2-100

Loi hn


nh hn

4.0 ti 6.0

CMV1-#22BSC-C3-100

Loi kp



53164T) .

CMV1-AP2S-M1

(Loi kt ni 1 chm)

CMV1S-AP2S-M1

(Loi c ren)

CMV1-#22BSC-S2-100

Loi hn


nh hn

5.5 ti 7.5

CMV1-#22BSC-C3-100

Loi kp



53164T) .

CMV1-AP2S-M2

(Loi kt ni 1 chm)

CMV1S-AP2S-M2

(Loi c ren)

CMV1-#22BSC-S2-100

Loi hn


nh hn

7.0 ti 9.0

CMV1-#22BSC-C3-100

Loi kp



53164T) .

CMV1-AP2S-L

(Loi kt ni 1 chm)

CMV1S-AP2S-L

(Loi c ren)

CMV1-#22BSC-S2-100

Loi hn


nh hn 9.0 ti 11.6

CMV1-#22BSC-C3-100

Loi kp



Phch cm gp (Loi c ren)

Loi gp (Loi kt ni 1 chm)

Phch cm thng

(Loi c ren) Phch cm thng

(Loi kt ni 1 chm)


3 - 8

53164T) .

Cu hnh

u ni c tnh

Phch cm (DDK) Cht gi cp (DDK) u ni ngun ng

c servo

(Ch 2) Loi Kiu

Cabel OD

[mm] (tham kho) Kiu

G

(cho

ngun)

IP67

Theo EN



9.5 ti 13 CE3057-12A-2-D

MS3102A22-22P

12.5 ti 16 CE3057-12A-1-D



9.5 ti 13 CE3057-12A-2-D

12.5 ti 16 CE3057-12A-1-D

(Ch 1)

Mi trng

chung



(v ID) D/MS3057-12A

Gp D/MS3108B22-22S


Ch 1.Khng theo EN.

2.u ni pha bn kia.

Cu hnh

u ni c tnh

Phch cm (DDK) Backshell Cht gi cp (DDK) u ni ngun

ng c servo

(Ch 2) Loi Kiu Kiu

Cabel OD

[mm] (tham kho) Kiu

H

(cho phanh

in t)

IP67

Theo EN

Thng

(Ch 3)

CE05-6A32-17SD-D

C dy kh dng: AWG 4

CE05-32BS-S-D-OB 30 ti 32.5 CE3057-24A-1-D

MS3102A32-17P

27 ti 29.6 CE3057-24A-2-D

CE05-6A32-17SD-D-BSS


22 ti 23.8 CE3057-20A-1-D



(Ch 1)

Mi trng

chung



23.8 hoc nh

hn

(v ID)

D/MS3057-20A

Gp D/MS3108B32-17S


Ch 1.Khng theo EN.

2.u ni pha bn kia.

3.u ni ny ch c s dng khi ng knh ngoi ca cp u dng cho HG-JR11K1M(4) v HG-JR15K1M(4) vt qu

23.8mm.

Cht gi cp Cp Phch cm Cht gi cp Cp

Cht gi cp Cp Cht giu cp Cp Phch cm Phch cm

Phch cm


3 - 9

3.4 u ni dy (cu hnh u nis J/K/L/M/N)

Cu hnh

u ni c tnh

Cp-side connector u ni cho phanh

in t ca ng

c servo

(Ch 2)

Phch cm (DDK)

Connector for cp

Loi Nh sn xut

Cp OD

[mm] (tham

kho)

Kiu

J

(Cho

phanh in

t)

IP67

Theo EN

UL/CSA

D/MS3106A10SL-4S

(D190)

C dy kh dng:

AWG 22 ti 16

Thng Nippon Flex

4 ti 8 ACS-08RL-

MS10F

MS3102A10SL-

4P

8 ti 12 ACS-12RL-

MS10F

Daiwa Dengyo 5 ti 8.3 YSO10-5 ti 8

Gp Nippon Flex

4 ti 8 ACA-08RL-

MS10F

8 ti 12 ACA-12RL-

MS10F

Daiwa Dengyo 5 ti 8.3 YLO10-5 ti 8

(Ch 1)

Mi trng

chung

D/MS3106A10SL-4S

C dy kh dng:

AWG 22 ti 16

Thng

5.6 hoc nh

hn

(v ID)

D/MS3057-4A

Ch 1.Khng theo EN.

2.u ni c lin kt.

Cu hnh

u ni c tnh

Phch cm (DDK)

V bo v

(DDK)

Cht gi cp (DDK) u ni encoder

ca ng c

servo

(Ch 2)

Loi Kiu Cp OD

[mm] Kiu

K

(cho

encoder)

IP67

Theo EN

Thng D/MS3106A20-29S (D190)

CE02-20BS-S-D 6.8 ti 10 CE3057-12A-3-D

D/MS3102A20-

29P

Gp CE-20BA-S-D

(Ch 1)

Mi trng

chung


15.9 hoc nh

hn

(v ID)

D/MS3057-12A Gp D/MS3108B20-29S

Ch 1.Khng theo EN.

2.u ni c lin kt.

Phch cm Cht gi cp Cable

V bo v

V bo v Cp

Cht gi cp Phch cm

Tng ng IP67 Tng ng IP67 Mi trng chung

Phch cm Cp

u ni cho cp

u ni cho cp Cp Phch cm Cht gi cp Cp

Phch cm


3 - 10

Cu hnh

u ni c tnh

Phch cm (DDK) Cht gi cp (DDK) u ni qut lm

mt ca ng c

servo (Ch ) Loi Kiu

Cp OD

[mm] (tham kho) Kiu

L

(cho qut

lm mt)

IP67

Theo EN

Thng CE05-6A14S-2SD-D-BSS 7.0 ti 9.0 CE3057-6A-1-D CE05-2A14S-2P

Ch . u ni c lin kt.

Cu hnh

u ni c tnh

Phch cm (DDK) Cht gi cp (DDK) u ni ngun ca

ng c servo (Ch

) Loi Kiu

Cp OD

[mm] (tham kho) Kiu

M

(Cho

ngun)

IP65

Theo EN

UL/CSA



13 ti 15.5 CE3057-16A-2-D

CE05-2A24-10P

15 ti 19.1 CE3057-16A-1-D



13 ti 15.5 CE3057-16A-2-D

15 ti 19.1 CE3057-16A-1-D

Mi trng

chung

theo UL/CSA



(v ID) D/MS3057-16A

Gp D/MS3108B24-10S


Ch . u ni c lin kt.

Cht gi cp Cp Cht gi cp Cp Phch cm

Phch cm Cht gi cp Cp

Phch cm


3 - 11

Cu hnh

u ni c tnh

Phch cm (DDK) Cht gi cp (DDK) u ni ngun ca

ng c servo

(Ch ) Loi Kiu

Cp OD

[mm] (tham kho) Kiu

N

(cho

ngun)

IP65

theo EN

UL/CSA



9.5 ti 13 CE3057-12A-2-D

CE05-2A22-23P

12.5 ti 16 CE3057-12A-1-D



9.5 ti 13 CE3057-12A-2-D

12.5 ti 16 CE3057-12A-1-D

Mi trng

chung

Theo UL/CSA



(v ID) D/MS3057-12A

Gp D/MS3108B22-23S


Ch . u ni c lin kt.

Cht gi cp Cp Cht gi cp Cp Phch cm Phch cm


3 - 12

Ghi Nh

4. Kt ni ca b iu khin v ng c SERVO

4 - 1

4. Kt Ni Ca B iu khin iu khin V ng C Servo

Cnh Bo

Bt c ai tham gia vo qu trnh ni dy hay kim tra u cn phi thnh tho cng vic .

Ni t ng c servo mt cch an ton.

Khng th ni dy ng c servo truc khi c lp t xong. Nu may khng

tai nn in git c th xy ra. Khng c cp b tn hi, b ko cng, b chu ti hay b b. Nu khng, c

th gy ra tai nn in git.

trnh tai nn in git, hy cch in nhng u ni ca ngun.

Thn Trng

Ni dy thit b ng v chc chn. Nu khng, ng c servo c th hot ng ngoi mong mun.

Ni dy cp n ng im cc. Nu khng, mt v n, s tn thtvv c th xy ra.

m bo phn cc ng. Nu khng mt v n, tn tht ..vv c th xy ra.

Khng lp t b, b chng t bin, b lc nhiu v tuyn (ty chn FR-BIF-(H))

ln b ngun ca ng c servo.

Khng sa i thit b. Kt ni trc tip u ra b iu khin servo (U, V v W) n u vo ng c

servo (U, V v W), khng ni qua cng tc t in t. Nu khng, hng hc c th

xy ra .

im Lu

Chng ti khuyn co s dng dy HIV kt ni ng c servo v b iu

khin servo. Do kch thc dy khuyn co c th khc so vi cc loi ng

c servo trc y.

U

ng c servo

M V

W

U

V

W

U

M V

W

U

V

W

B iu khin servo B iu khin servo

ng c servo


4 - 2

4.1 Ch dn kt ni

Thn Trng

trnh hng hc, ni dy n ng cc u cc ca cc pha (U, V, W) ca ng c servo.

Khng ni ngun xoay chiu trc tip n ng c servo. Nu cause a khng c

th s dn n hng hc. Khng s dng ngun 24V thng cho phanh in t. Lun lun phi s dng

ngun c bit c thit k ring cho ng phanh in t. Nu khng, c th xy ra hng hc.

im Lu

Tham kho chng 5 la chn cp Encoder.

Tham kho chng ring ca cc nhm ng c la chn b hp th t

bin ca phanh in t.

ni t, kt ni u ni t ca ng c servo ti chn t bo v (PE) ca b iu khin servo, v sau

kt ni ti mt t thng qua t bo v ca ngn ny.

Ch S lng u cc PE ph thuc vo loi iu khin servo.

ng c servo B iu khin servo

Ngn

u cc PE (Ch )


4 - 3

4.2 Ni dy

4.2.1 nhm HG/nhm HG-KR (1) Kt ni vi b iu khin servo n trc MR-J4 (a) S ni dy ngun ca ng c servo 1) Trng hp cp di khng qu 10m

2) Khi dy cp di trn 10m

Ch to cp m rng nh trong hnh di y. Dy cp ngun ca ng c servo ch nn di

2m. Tham kho mc 4.3 bit dy ni dng cho cp m rng.

Ch . S dng nhng u ni di y khi cn bo v chng xm nhp (IP65)

u ni: 5WTPZ-4P(71)

Dy gi: JR13WCC-5(72)

(Hirose Electric)

b u ni chuyn tip cho Cp ngun ng c

a) u ni chuyn tip cho Cp m rng

u ni chuyn tip

u ni: RM15WTJZ-4S(71)


(Hirose Electric)

S thay i ty theo cp OD.

S thay i ty theo cp OD.

M t Ch s IP

IP65

IP65

MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L

CNP3 (

(Trng (en

(Xanh/Vng)

U V

U V W W

ng c servo

M

Cp m rng

50 m hoc ngn hn

(Ch ) b) u ni chuyn tip cho

Cp ngun ng c servo

(Ch ) a) u ni chuyn tip

cho cp m rng

CNP3 ()

(Trng) (en)

(Xanh/vng)

U V

U V W W

ng c servo

10 m hoc ngn hn

M

MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H B iu khin servo

2 m hoc ngn hn

B iu khin servo


4 - 4

(b) S i dy phanh in t

1) Khi cp di khng qu 10m

Ch 1. Ni b hp th t bin cng gn ng c cng tt.

2.Khng c s phn cc cc u cc B1 B2 ca phanh in t.

3. Khng s dng ngun 24V thng thng cho phanh in t.

4. To mch in kch hot phanh bng cng tc dng khn cp.

Khi ch to cp phanh in t MR-BKS1CBL-_M-H, xem mc 5.4 v 5.5 2) Khi cp di hn 10m Ch do dy cp m rng nh hnh di y. Thm vo , cp ca phanh in t nn t 2m tr xung

Tham kho mc 4.3 bit cch s dng cp m rng.

Ch 1.Ni b hp th t bin cng gn ng c cng tt.

2.Khuyn co s dng nhng u ni di y khi cn bo v chng xm nhp (IP65).

3.To mch in kch hot phanh bng cng tc dng khn cp.

4.Khng c s phn cc gia hai u cc B1 v B2 ca phanh.

5.Khng s dng ngun 24V thng thng cho phanh in t.

CM10-CR2P- (DDK)

u ni chuyn tip M t Ch s IP

IP65

IP65 CMV1-SP2S- (DDK)

a)

b

C dy:S, M, L

C dy: S, M1, M2, L

u ni chuyn tip cho cp phanh in t

u ni chuyn tip cho cp m rng

(Ch 2) b) u ni chuyn tip cho

cp phanh in t

(Ch 2) a) u ni chuyn tip cho

Cp m rng

(Ch 4)

(Ch 5) Ngun 24 V DC

Cho phanh in t

MB(Kha lin ng Phanh in t)

(Ch 1)

ALM (Li)

ng c servo

(Ch 3) AWG20 B1

B2 B

AWG20

2 m hoc ngn hn

Cp m rng (c ch to)

U

50 m hoc ngn hn MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L

(Ch 2)

(Ch 3) Ngun 24 V DC

Cho phanh in t

MB(Kha lin ng phanh in t)

AWG20

AWG20

MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H

(Ch 1) B1

B 2

ALM (Li)

ng c servo

10 m hoc ngn hn

(Ch 4)

U B


4 - 5

(2) Kt ni vi b iu khin servo a trc MR-J4 (a) S ni y ngun ng c servo 1) Khi cp di khng qua 10 m

Ch . CNP3 dnh cho b iu khin servo 3 trc MR-J4.

2) Khi cp di hn 10m Ch do dy cp m rng nh hnh di y. Thm vo , cp ca ngun in cho ng c servo nn t 2m tr xung.

Tham kho mc 4.3 bit dy ni dung cho cp m rng.

Ch 1.CNP3 dnh cho b iu khin servo 3 trc MR-J4.

2.S dng cc u ni di y khi cn bo b chng xm nhp (IP65).

u ni: RM15WTPZ-4P(71)


(Hirose Electric)

b u ni chuyn tip cho Cp ngun ng c

a) u ni chuyn tip cho Cp m rng

u ni chuyn tip

u ni: RM15WTJZ-4S(71)


(Hirose Electric)

S bin i ty theo cp OD.

S bin i ty theo cp OD.

M t Ch s IP

IP65

IP65


cp ngun ng c


Cp m rng

MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L

() (Trng) (en)

(Xanh/vng)

Cp m rng

CNP3A/CNP3B/ CNP3(Ch 1)

U V W

U V W


M

CNP3A/CNP3B/ CNP3(Note)

() (Trng) (en)

(Xanh/vng)

U V W

U V W


10 m hoc ngn hn

M

MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H

2 m hoc ngn hn 50 m hoc ngn hn


4 - 6

(b) S ni dy cho phanh in t 1) Khi cp di khng qu 10m

Ch 1. Ni b hp th t bin cng gn ng c cng tt.




5.Kt ni ny dnh cho b iu khin servo 3 trc MR-J4.

Khi ch cp cho phanh in t MR-BKS1CBL-_M-H, xem mc 5.4


(Ch 1)

(Ch 2)

(Ch 2)

AWG20

AWG20

(Ch 1) B1

B2

ng c servo

10 m hoc ngn hn

U B

AWG20

AWG20 B1

B2

ng c servo

U B

MBR-A (Kha lin ng phanh in t

cho trc A)

CAL(V

Li)

MBR-B (Kha lin ng phanh in t

cho trc B)

(Ch 4) Ngun 24 V DC

Cho phanh in t (Ch 3)

(Ch 1)

(Ch 2)

AWG20

AWG20 B1

B2

ng c servo

U B

MBR-(Kha lin ng phanh in t

cho trc C)

(Ch 5)




4 - 7

2) Khi cp di hn 10m Ch do dy cp m rng nh hnh di y. Thm vo , cp ca phanh in t nn t 2m tr xung. Tham kho mc 4.3 bit cch s dng cp m rng.

.

Ch 1.Ni b hp th t bin cng gn ng c cng tt.

2.Khuyn co s dng nhng u ni di y khi cn bo v chng xm nhp.




6.Kt ni ny dnh cho b iu khin servo 3 trc MR-J4.

CM10-CR2P- (DDK)

u ni chuyn tip M t Ch s IP

IP65

IP65 CMV1-SP2S- (DDK)

a)

b

C dy : S, M, L

C dy S, M1, M2, L

u ni chuyn tip cho Cp phanh in t

u ni chuyn tip cho Cp m rng

MBR-A (Kha lin ng phanh in t

Cho trc A)

CAL(V

Li)

MBR-B (Kha lin ng phanh in t

cho trc B)

(Ch 3)

MBR-C (Kha lin ng phanh in t

cho trc C)

(Ch 1)

(Ch 4)

(Ch 4

(Ch 1)

ng c servo

ng c servo

(Ch 5) Ngun VDC 24V

Cho phanh in t

(Ch 1)

(Ch 4)

ng c servo

(Ch 6)

U

U

U

B1

B2 B

AWG20

AWG20

2 m hoc ngn hn 50 m hoc ngn hn

B1

B2 B

AWG20

AWG20

B1

B2 B

AWG20

AWG20

MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L




cp phanh in t


Cp m rng


Cp phanh in t


Cp m rng


cp phanh in t


cp m rng


4 - 8

4.2.2 ng c servo dng HG-SR/dng HG-JR/dng HG-RR/dng HG-UR Xem mc 4.3 bit loi dy s dng 1)S ni dy

a) ni vi b iu khin iu khin 1 trc MR-J4

Ch 1.Khng c s phn cc gia hai u cc B1 v B2 ca phanh

2.Khng s dng ngun 24V thng thng cho phanh in t

3.To mch in kch hot phanh bng cng tc dng khn cp

4.Xem chng ca tng dng ng c bit ngun cho qut lm mt

U V W

50 m hoc ngn hn

B iu khin servo

(Ch 3) RA3

(Ch 1) B1

B2

(Ch 2) Ngun 24 V DC

Cho phanh in t

ALM (Li)

RA1

MB(Kha lin ng phanh in t

RA2

U B

U V W

M

ng c servo

Qut lm mt

BU BV BW

MCC

(Ch 4) Power supply cooling fan


4 - 9

(b) Kt ni vi b iu khin iu khin a trc MR-J4

Ch 1. Khng c s phn cc gia hai u cc B1 v B2 ca phanh.

2. Khng s dng ngun 24V thng thng cho phanh in t.

3. To mch in kch hot phanh bng cng tc dng khn cp.

4. Kt ni ny dnh cho b iu khin iu khin 3 trc MR-J4.

50 m hoc ngn hn ng c servo trc A

M U V W

(Ch 1)

B1

B2 U B

B iu khin servo

U V W

CAL

DOCOM

MBR-

RAMBR-

RA

RA

CNP3A

(Ch 3)

CAL(V

li) RA1

MBR-(Kha lin ng Phanh in t

Cho trc A) RA

CNP3B U V W

ng c servo trc B (Ch 1)

B1

B2 U B


Cho trc B) RA

M U V W

(Ch 4)

(Ch 2) Ngun 24 V DC

Cho phanh in t

RAMBR-

CNP3

U V W

ng c servo trc C

(Ch 1)

B1

B2 U B


Cho trc C) RA

M U V W

(Ch 4)

24 V DC


4 - 10

(2) Phn u cui ca ng c servo

Bng di y th hin phn u cc ca ng c servo. bit chi tit ca cc u ni, tham kho

phn (3) ca mc ny. bit chi tit v hp u cc, tham kho mc (4) ca phn ny.

Nhng u ni ph hp vi nhng ng c ny c chun b nh nhng thit b ty chn. Tham kho

mc nm bit chi tit v cc ty chn. Cho nhng loi khc, tham kho chng 3.

(a) Dng HG-SR

ng c servo Phn u cc ca ng c servo

encoder Ngun Phanh in t

HG-SR52(4)

HG-SR102(4)

HG-SR152(4)

u ni A

u ni C

u ni H

HG-SR51

HG-SR81

HG-SR202(4)

HG-SR352(4)

HG-SR502(4) u ni D

HG-SR121

HG-SR201

HG-SR301

HG-SR702(4) u ni E

HG-SR421

(b) Dng HG-JR

ng c secrvo Phn u cc ca ng c servo

encoder Ngun Phanh in t Qut lm mt

HG-JR53(4)

HG-JR73(4)

HG-JR103(4)

HG-JR153(4)

HG-JR203(4)

HG-JR3534

HG-JR5034

u ni A

u ni C

u ni H

HG-JR353

HG-JR503 u ni D

HG-JR703(4)

HG-JR903(4) u ni E

HG-JR11K1M(4)

HG-JR15K1M(4) u ni B u ni J

HG-JR22K1M(4) Hp u dy u ni K

(c) Dng HG-RR


encoder Ngun Qut lm mt

HG-RR103

HG-RR153

HG-RR203 u ni A

u ni F Dng chung vi u

ni ngun ng c HG-RR353

HG-RR503 u ni G


4 - 11

(d) Dng HG-UR


encoder Ngun Phanh in t

HG-UR72

HG-UR152

u ni A

u ni F Dng chung vi u

ni ngun ng c

HG-UR202

HG-UR352

HG-UR502

u ni G u ni J

(3) Chi tit v u ni pha ng c servo

Di y l u ni encoder, u ni ngun, u ni phanh in t, v u ni qut lm mt pha ng c.

u ni A

u ni encoder

CMV1-R10P

u ni B

u ni encoder

MS3102A20-29P

u ni C

u ni encoder

MS3102A18-10P

Chn Tn hiu

Chn Tn hiu

Chn Tn hiu

1 MR A A U

2 MRR B B V

3 C MR C W

4 BAT D MRR D

5 LG E (PE)

6 F BAT

7 G LG

8 P5 H

9 J

10 SHD K

THM1

(Ch )

L

THM1

(Ch )

M

N SHD

P

R LG

S P5

T

Ch : tn hiu ny

dnh cho HG-

JR22K1M

C D

A B

A N

G

S R

T P

H F

J E

K D

L M B

C

5

6

1 4

3

2

8

7

9

10


4 - 12

u ni D

u ni ngun

MS3102A22-22P

u ni E

u ni ngun

MS3102A32-17P

u ni F

u ni ngun

CE05-2A22-23P

Chn

No. Tn hiu

Chn

No. Tn hiu

Chn

No Tn hiu

A U A U A U

B V B V B V

C W C W C W

D

D

D

(PE) (PE) (PE)

E

F

G B1

(Ch )

H

B2

(Ch )

Ch : Vi ng c c phanh in t, ngun ca phanh in t (24 VDC) khng c s phn cc.

u ni G

u ni ngun

CE05-2A24-10P

u ni H

u ni phanh in t

CMV1-R2P

u ni J

u ni phanh in t

MS3102A10SL-4P

Chn

No. Tn hiu

Chn

No. Tn hiu

Chn

No. Tn hiu

A U 1

B1

(Ch ) A

B1

(Ch ) B V

C W 2

B2

(Ch ) B

B2

(Ch ) D

(PE) Ch : Vi ng c c phanh in t, ngun ca phanh in t (24 VDC). Khng c s phn cc

Ch : Vi ng c c phanh in t, ngun ca phanh in t (24 VDC). Khng c s phn cc

.

E B1

(Ch )

F B2

(Ch )

G

Ch . Vi ng c c phanh in t, ngun ca phanh in t (24 VDC). Khng c s phn cc

.

A B 1 2

F

E

D

G

C

B

A

F

E

D

H

G A

B

C

C D

A B

C D

A B


4 - 13

u ni K

u ni qut lm mt

CE05-2A14S-2P

Chn

No. Tn hiu

A BU

(Ch )

B BV

(Ch )

C BW

(Ch )

D

Ch : Tham kho chng ring ca cc dng ng c bit thng s k thut ca ngun qut lm mt

.

(4) Bn trong hp u dy (HG-JR22K1M(4)

Ch . Cung cp cc bin php chng du, nc, bi bn lt v ng c qua l cm ngun.

t bo v (PE) : Vt M10 (2)

Np hp: Vt M4 (8)

Tm gi

Ni ti u ni encoder

L cm ngun (ch )

C D

A B

Khi u cc ngun: Vt M10 (3)

Tm gi: Vt M5 (4)


4 - 14

4.3 V d v la chn dy dn

im Lu

Dy c ni n trong phn ny l cc dy ring bit. Khi s dng mt dy cp lm dy ni ngun (U, V, W) gia b iu khin servo v ng c servo, s dng dy cp 600 V cch in bng v cao su chloroprene (2PNCT). la chn cp, tham kho ph lc 6

hp vi tiu chun UL/CSA. S dng dy trong ph lc 9. hp vi cc tiu chun khc. S dng dy dn hp vi tng tiu chun

iu kin chn la c dy nh di y. iu kin xy dng: Dy n treo l lng

Chiu di dy: khng qu 30m

1) Biu di y th hin dy dn kt ni. S dng dy c nu ra trong mc ny hoc tng ng.

U

V

W

U

V

W

B1

B2

BU

BV

BW

Ngun in

3) u dy qut lm mt

Qut lm mt

2) u dy Phanh in t

ng c servo 1) u dy ngun ng c servo

ng c

Phanh in t

Encoder

Cp encoder

B iu khin servo


4 - 15

Khi s dng cp 600V chu nhit cch in bng Polyvinyl chloride (dy HIV):

V d v chn dy khi s dng dy HIV c th hin bng di y.

(1) Dng HG-MR v dng HG-KR

ng c servo Dy dn [mm2]

1) U/V/W/ 2) B1/B2

HG-MR053

HG-MR13

HG-MR23

HG-MR43

HG-MR73 0.75 (AWG 18) (Ch ) 0.5 (AWG 20) (Ch )

HG-KR053

HG-KR13

HG-KR23

HG-KR43

HG-KR73

Ch . Dnh cho cp ngn hn 10m. Khi ch to cp m rng, s dng loi 1.25 mm2 (AWG 16).

(2) Dng HG-SR

ng c servo Dy [mm2]

1) U/V/W/ 2) B1/B2

HG-SR51 1.25 (AWG 16)

1.25 (AWG 16)

HG-SR81

HG-SR121 2 (AWG 14)

HG-SR201

HG-SR301 3.5 (AWG 12)

HG-SR421 5.5 (AWG 10) (Ch )

HG-SR52 1.25 (AWG 16)

HG-SR102

HG-SR152 2 (AWG 14)

HG-SR202

HG-SR352 3.5 (AWG 12)

HG-SR502 5.5 (AWG 10) (Ch )

HG-SR702 8 (AWG 8) (Ch )

HG-SR524 1.25 (AWG 16)

HG-SR1024

HG-SR1524

2 (AWG 14) HG-SR2024

HG-SR3524

HG-SR5024 3.5 (AWG 12) (Ch )

HG-SR7024 5.5 (AWG 10) (Ch )

Ch . Tham kho sch hng dn ca tng b iu khin servo bit loi u cc dng xon v

dng c kp cn thit.


4 - 16

(3) Dng HG-JR

ng c servo

Dy [mm2]

1) U/V/W/

2) B1/B2 3) BU/BV/BW Tiu chun

Khi m men ti a l 400% (Ch 2)

HG-JR53

1.25 (AWG 16) 1.25 (AWG 16)

1.25 (AWG 16)

HG-JR73

HG-JR103

HG-JR153 2 (AWG 14) 2 (AWG 14)

HG-JR203

HG-JR353 3.5 (AWG 12) 3.5 (AWG 12)

(Ch 1)

HG-JR503 5.5 (AWG 10)

(Note 1)

5.5 (AWG 10)

(Ch 1)

HG-JR703 8 (AWG 8)

(Ch 1)

HG-JR903 14 (AWG 6)

(Ch 1) HG-JR11K1M

HG-JR15K1M 22 (AWG 4)

(Ch 1)

HG-JR22K1M 38 (AWG 2)

(Ch 1) 1.25 (AWG 16)

HG-JR534

1.25 (AWG 16) 1.25 (AWG 16)

HG-JR734

HG-JR1034

HG-JR1534

2 (AWG 14) 2 (AWG 14)

HG-JR2034

HG-JR3534 2 (AWG 14) (Note 1)

HG-JR5034 3.5 (AWG 12)

(Ch 1)

3.5 (AWG 12)

(Ch 1)

HG-JR7034 5.5 (AWG 10)

(Ch 1)

HG-JR9034

HG-JR11K1M4 8 (AWG 8)

(Ch 1)

HG-JR15K1M4

HG-JR22K1M4 14 (AWG 6)

(Ch 1) 1.25 (AWG 16)

Ch 1.Tham kho sch hng dn ca tng b iu khin servo bit loi u cc dng xon v dng c

kp cn thit.

2.M men ti a c th tng ln 400% bng cch thay b iu khin servo. Tham kho mc 8.2 bit

cch kt hp.

(4) Dng HG-RR

ng c servo Dy [mm2]

1) U/V/W/ 2) B1/B2

HG-RR103 2 (AWG 14)

HG-RR153

HG-RR203 3.5 (AWG 12) 1.25 (AWG 16)

HG-RR353 5.5 (AWG 10) (Ch )

HG-RR503

Ch . Tham kho sch hng dn ca tng b iu khin servo bit loi u cc dng xon v

dng c kp cn thit.


4 - 17

(5) Dng HG-UR

ng c servo Dy [mm2]

1) U/V/W/ 2) B1/B2

HG-UR72 1.25 (AWG 16)

HG-UR152 2 (AWG 14)

HG-UR202 3.5 (AWG 12) 1.25 (AWG 16)

HG-UR352 5.5 (AWG 10) (Ch )

HG-UR502

Ch . Tham kho sch hng dn ca tng b iu khin servo bit loi u cc dng xon

v dng c kp cn thit.

4.4 Phn u cc ca b iu khin servo

im Lu

bit v c dy, tham kho 4.3.

ni dy ti b iu khin servo, s dng nhng u ni i km hoc nhng u ni ty chn. Bng di y th hin nhng u ni kh dng cho cc b iu khin servo. Nhng s trong phn u ra nh mc ca bng ny l nhng s in vo ch trng _ trong tn ca dng iu khin servo. bit chi tit v b iu khin iu khin, hy xem phn (1) ca mc ny. bit cch ni dy, xem phn (2).

B iu khin

servo

u ra nh mc

10 20 40 60 70 100 200 350 500 700 11K 15K 22K

MR-J4-_A

MR-J4-_A-RJ

MR-J4-_B

MR-J4-_B-RJ

MR-J4-_B-RJ010

MR-J4-_B-RJ020

u ni A u ni B Trng (Hp u dy) (Ch )

Ch . bit chi tit v khi u cc, tham kho sch hng dn s dng ca tng b iu khin servo.

B iu khin

servo

u ra nh mc

60 100 200 350 500 700 11K 15K 22K

MR-J4-_A4

MR-J4-_A4-RJ

MR-J4-_B4

MR-J4-_B4-RJ

MR-J4-_B4-RJ010

MR-J4-_B4-RJ020

u ni D Trng (Hp u dy) (Ch )

Ch . bit chi tit v khi u cc, tham kho sch hng dn s dng ca tng b iu khin servo.

B iu khin

servo

u ra nh mc

10 20 40

MR-J4-_A1

MR-J4-_A1-RJ

MR-J4-_B1

MR-J4-_B1-RJ

MR-J4-_B1-RJ020

Ch A

B iu khin

servo

u ra nh mc (Ch )

22 (222) 44 (444) 77 1010

MR-J4W2-_B u ni C

MR-J4W3-_B u ni C

Ch . S trong du ngoc n dnh cho b iu khin servo 3 trc MR-J4.


4 - 18

(1) Chi tit u ni

(a) u ni A

Bng 4.1 u ni v dy ni kh dng

u ni cm Dy ni kh dng Chiu di Tc v

[mm]

Dng c m Nh sn xut

C dy Cch in OD

CNP3 03JFAT-SAXGDK-H7.5 AWG 18 ti 14 Khng qu 3.9 mm 9 J-FAT-OT JST

(b) u ni B


u ni

cm

Dy ni kh dng Chiu di Tc v

[mm]

Dng c m Nh sn xut

C dy Cch in OD

CNP3 03JFAT-SAXGFK-XL AWG 16 ti 10 Khng qu 4.7 mm 11.5 J-FAT-OT-EXL JST

CNP3

B iu khin servo

MR-J4-200_(-RJ_) B iu khin servo

CNP3

CNP3

MR-J4-350_(-RJ_) B iu khin servo


4 - 19

(c) u ni C

Ch . Hnh ny m t b iu khin servo 3 trc MR-J4..


u ni cm C dy kh dng

Chiu di Tc v

[mm] Dng c m Nh sn xut

CNP3A

CNP3B

CNP3C

04JFAT-SAGG-G-KK AWG 18 ti 14 9 J-FAT-OT-EXL JST

(d) u ni D


u ni

cm

Dy ni kh dng Chiu di Tc v

[mm]

Dng c m Nh sn xut

C dy Cch in OD

CNP3 03JFAT-SAXGDK-HT10.5 AWG 16 ti 14 Khng qu 3.9 mm 10 J-FAT-OT-XL JST

B iu khin servo

CNP3

MR-J4W_ B iu khin servo

CNP3A

CNP3B

CNP3C (Ch )


4 - 20

(2) Quy trnh kt ni cp (a) Ch to cp

Tham kho mc 4.1 ti 4.4 bit chiu di tc v cch in. Chiu di tc v thch hp ca dy

cp ph thuc vo loi cp,..vv.

Xon nh li dy sau nn thng nh hnh di y.

(b) Thm dy Thm dng c m nh di y v n xung m l xo. Trong khi dng c m c n xung, ta thm dy c tc v vo l. Kim tra su cho phn cch in ca dy khng b kp bi l xo. Th dng c m c nh dy. Ko nh dy m bo rng dy c kt ni cht.

Hnh di y l mt v d kt ni ca 03JFAT-SAXGFK-XL.

1) n dng c m.

3) Th c nh dy.

2) Thm dy.

Tch v un Xon v nn thng dy

Cch in Li

Chiu di tc

5. Ty chn ni dy

5 - 1

5. Ty chn ni dy

Cnh Bo

Trc khi kt ni bt k ty chn no, tt ngun v i t nht 15 pht cho n khi n sc tt. Sau th in p gia P+ v N- bng bt th in v nhng th khc. Nu khng, tai nn in git c th xy ra. Thm vo , khi xc nhn n sc

tt hay cha, lun lun phi xc nhn t pha trc b iu khin servo.

Thn Trng

S dng ty chn c ch nh. Nu khng c th gy ra hng hc.

im Lu

Chng ti khuyn co s dng dy HIV ni dy n b iu khin servo,

ng c servo, ty chn, v thit b ngoi vi. Do , c dy khuyn co c th

khc vi cc loi dy s dng cc loi ng c servo trc y.

5.1 Cc b cp/u ni.

im Lu

Ch s IP c trng cho kh nng chng xm nhp ca bi bn v nc khi u ni c ni vo ng c servo hoc b iu khin servo. Nu ch s IP ca u ni, ca b iu khin servo v ca ng c servo khc nhau th ch s IP tng s ph thuc vo ch s IP thp nht ca tt c cc thnh phn.

Vui lng mua cc ty chn cp v u ni trong phn ny cho ng c servo.

5. Ty chn ni dy

5 - 2

5.1.1 S kt hp ca cc b cp/u ni (1) Dng ng c HG-MR/HG-KR

Ch 1. u ni cho 3.5 kW hoc thp hn. Ln hn 5KW, s dng hp u cc.


3. Tham kho ph lc 7 bit u ni xon cho CNP3.

(2) ng c servo dng HG-SR/HG-JR53(4) ti HG-JR15K1M(4)/Dng HG-RR/Dng HG-UR

Ch 1. u ni cho 3.5 kW hoc thp hn. Ln hn 5KW, s dng hp u cc.


3. Tham kho ph lc 7 bit u ni xon cho CNP3_.

u ni encoder

u ni phanh in t

u ni ngun

27) 28) 29) 37) 38)

24) 25) 40)

30) 31) 32) 33) 39)

26) 34) 35) 36) 41)

CNP3A

CNP3B

CNP3 CN2B CN2A

(Ch 2)

CNP3

CN(Ch 1)

CN2(Ch 2) (Ch 3)

hoc B iu khin servo MR-J4 a trc

B iu khin servo MR-J4 1 trc

42

CN

MR-BAT6V1BJ

Kt ni trc tip (Chiu di cp khng qu 10 m, IP65)

13) 14) 15) 16)

Kt ni chuyn tip (Chiu di cp trn 10 m, IP20)

19) 20)

21

17) 18)

1) 2) 3) 4)

5) 6)

11) 12)

7) 8) 9) 10)

Ti ngun 24 V DC cho phanh in t

u ni encoder

u ni phanh in t

u ni ngun

24) 25)

26

22) 23)

Kt ni chuyn tip (Chiu di cp trn 10 m, IP65)

CNP3A

CNP3B

CNP3 CN2B CN2A

(Ch 2)

(Ch 3)

CNP3

(Ch 1)

CN2(Ch 2)

Hoc B iu khin servo MR-J4 a trc

B iu khin servo MR-J4 1 trc

CN

42

CN

MR-BAT6V1BJ

5. Ty chn ni dy

5 - 3

(3) ng c servo HG-JR22K1M(4)

Ch 1. Tham kho phn 3.1 bit loi u cc dng cho qut lm mt.

2. Khng th s dng MR-ENECBL_M-H.

5.1.2 Danh sch cp v u ni.

STT Tn Kiu M t Ghi ch

1) Cp ngun ng

c servo

MR-

PWS1CBL_M-

A1-L (Ch 1,

2)

Chiu di cp:

2/5/10 m

Xem mc 5.3 bit chi tit.

IP65 u pha ti Theo chun EN

2) Cp ngun ng

c servo

MR-

PWS1CBL_M-

A1-H (Ch 1)

Chiu di cp:

2/5/10 m

IP65 u pha ti Tui th un cao Theo chun EN

3) Cp ngun ng

c servo

MR-

PWS1CBL_M-

A2-L (Ch 1,

2)

Chiu di cp:

2/5/10 m



4) Cp ngun ng

c servo

MR-

PWS1CBL_M-

A2-H (Ch 1)

Chiu di cp:

2/5/10 m


5) Cp ngun ng

c servo

MR-

PWS2CBL03M

-A1-L (Ch 1)

Chiu di cp:

0.3 m



6) Cp ngun ng

c servo

MR-

PWS2CBL03M

-A2-L (Ch 1)

Chiu di cp:

0.3 m



u ni ngun

Dng HG-MR Dng HG-KR

u ni ngun

Dng HG-MR Dng HG-KR

u ni ngun

Dng HG-MR Dng HG-KR

u ni ngun

Dng HG-MR Dng HG-KR

B iu khin servo

CN

Hp u dy (Ch 1)

40) (Ch 2)

41

42

CN

MR-BAT6V1BJ

5. Ty chn ni dy

5 - 4


7) Cp phanh in t MR-

BKS1CBL_M-

A1-L

Chiu di cp:

2/5/10 m


IP65 u pha ti


BKS1CBL_M-

A1-H

Chiu di cp:

2/5/10 m

IP65 u pha ti Tui th un cao


BKS1CBL_M-

A2-L

Chiu di cp:

2/5/10 m


IP65 u pha ti


BKS1CBL_M-

A2-H

Chiu di cp:

2/5/10 m

IP65 u pha i din ti Tui th un cao


BKS2CBL03M-

A1-L

Chiu di cp:

0.3 m


IP55 u pha ti


BKS2CBL03M-

A2-L

Chiu di cp:

0.3 m


IP55

u pha i

din ti

13) Cp encoder MR-

J3ENCBL_M-

A1-L (Ch 1)

Chiu di cp:

2/5/10 m

Xem mc 5.2 (1) bit chi tit.

IP65

u pha ti

14) Cp encoder MR-

J3ENCBL_M-

A1-H (Ch 1)

Chiu di cp:

2/5/10 m

IP65

u pha ti Tui th un

cao

15) Cp encoder MR-

J3ENCBL_M-

A2-L (Ch 1)

Chiu di cp:

2/5/10 m


IP65

u pha i din ti

16) Cp encoder MR-

J3ENCBL_M-

A2-H (Ch 1)

Chiu di cp:

2/5/10 m

IP65

u pha i din ti

Tui th un

cao

17) Cp encoder MR-

J3JCBL03M-

A1-L (Ch 1)

Chiu di cp:

0.3 m


IP65

u pha

ti

u ni encoder

Dng HG-MR Dng HG-KR

u ni encoder

Dng HG-MR Dng HG-KR

u ni encoder

Dng HG-MR Dng HG-KR

u ni phanh in t

Dng HG-MR Dng HG-KR

u ni phanh in t

Dng HG-MR Dng HG-KR

u ni phanh in t

Dng HG-MR Dng HG-KR

u ni phanh in t

Dng HG-MR Dng HG-KR

5. Ty chn ni dy

5 - 5


18) Cp encoder MR-

J3JCBL03M-

A2-L (Ch 1)

Chiu di cp:

0.3 m


IP20 u pha i din ti

19) Cp encoder MR-EKCBL_M-

L

Chiu di cp:

20/30 m

Dng HG-MR/HG-KR

Xem mc 5.2 (2)

Documents

HG Moter Instruction Manual