Junma Servo system

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Merry Ruth Barrett
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3 4 6 7 3 4 6 7 SJDE@OY, SJME@OY Junma Servo system new concept in drive simplicity Save space, save wiring, save time ltra compact drive size reduces panel space Tuningless

MEHTROLIKII port buildin MEHTROLIKII simplifies wiring and reduces installation time MEHTROLIKII provides access to the system from one point Pulse control Drive version

39 m) Servo Systems System onfiguration Junma MEHTROLIKII onfiguration Jseries PL J series Position control unit JF7 Personal computer software: XOne Junma MLII Junma MLII

1 SJDE@OY, SJME@OY Junma Servo system new concept in drive simplicity Save space, save wiring, save time ltra compact drive size reduces panel space Tuningless technology, no gain parameters need to be set Peak torque 3% of nominal during 3 seconds High response, high speed, high torque and high accuracy Drive version with MEHTROLIKII port buildin MEHTROLIKII simplifies wiring and reduces installation time MEHTROLIKII provides access to the system from one point Pulse control Drive version available, fully Parameterless just plug and run Ratings 3 Singlephase to 7 (.39 m) Servo Systems System onfiguration Junma MEHTROLIKII onfiguration Jseries PL J series Position control unit JF7 Personal computer software: XOne Junma MLII Junma MLII Junma MLII Junma MLII Junma MLII MEHTROLIKII Terminator Encoder cable Power cable Junma onfiguration Junma Pulse SJDE POY L L L Junma Servo Motor 3, rpm (7 ) Position control unit PR Power cable L L onnector terminal block General purpose controller (with pulse output) Junma Servo system

2 Motor Type Designation JM servomotor apacity ode 4 8 oltage : Output () 4 7 SJME M 4 OY OMRO YSK Motion ontrol rake specifications : o brake : 4D brake Shaft end specifications 4 : Straight, key Design procedure : Standard Feedback specifications M : nalogue output encoder Servomotor Specifications oltage 3 Servomotor @ 4@ 8@ Rated Output * 4 7 Rated Torque *, * m Instantaneous Peak Torque * m Rated urrent * rms Instantaneous Max. urrent * rms Rated Speed * min 3 Max. Speed * min 4 Torque onstant m/rms Rotor Moment of Inertia (JM) kg m x llowable load inertia *3 kg m x Rated Power Rate k/s Rated ngular cceleration rad/s 93 9 Encoder Standard nalogue output encoder llowable radial load llowable thrust load pprox. mass kg (without brake) kg (with brake) Rated voltage 4 D ±% Holding rake Moment of Inertia kg m x Power consumption (at ) urrent consumption (at )..9.3 Static friction torque m (minimum) Rise time for holding torque ms (max) Release time ms (max) 8 Time Rating ontinuous Thermal lass lass ibration lass µm or below ithstand oltage for one minute Insulation resistance D, MΩ min. Enclosure Totallyenclosed, selfcooled, IP (excluding shaft opening and connectors) ibration Resistance ibration acceleration 49m/s sage / storage temperature to 4 / to 6 without freezing sage / storage humidity to 8% RH (noncondensing) ltitude m or less above sea level Mounting Flangemounted rake specifications asic Specifications ote: *. These items and speed/torque characteristics quoted in combination with an SJDE servo drive are at an armature winding temperature of. Other values quoted at. *: The rated torques listed here are the values for the continuous allowable torque at 4 with an aluminum heatsink ( mm x mm x 6 mm) attached. *3. alue usig the appropriate SJDE drive without of external regeneration unit TorqueSpeed harecteristics ( : ontinuous Duty Zone : Intermittent Duty Zone) SJME SJME SJME4 SJME8 Speed (min ) 4 3 Speed (min ) 4 3 Speed (min ) 4 3 Speed (min ) Torque( m) Torque( m) Torque( m) Torque( m) Servo Systems

3 Servomotor / ombination Junma Servomotor Junma servo drive oltage Rated Torque apacity Model without brake Model with brake MEHTROLIKII Pulse ontrol SJME (3 min ).38 m SJMEM4OY SJMEM4OY SJDEOY SJDEPOY.637 m SJMEM4OY SJMEM4OY SJDEOY SJDEPOY.7 m 4 SJME4M4OY SJME4M4OY SJDE4OY SJDE4POY.39 m 7 SJME8M4OY SJME8M4OY SJDE8OY SJDE8POY Type Designation JM servo drive SJDE OY OMRO YSK Motion ontrol Servo Systems pplicable servomotor capacity ode 4 8 Output () 4 7 Power supply voltage : Design revision : Standard ontrol Interface specification : MEHTROLIKII P: Pulse train input Specifications Junma MEHTROLIKII Type OY OY 4OY 8OY pplicable 4@ 8@ Max. pplicable Motor capacity 4 7 ontinuous output current rms Max. output current rms Input power supply oltage Singlephase, to 3, to % (/6 Hz) (Main circuit and control circuit) apacity K ontrol Method PM control, sine wave current drive system Feedback nalogue incremental encoder (3 bits incremental equivalent) llowable load inertia * kg m sage / storage temperature to / to 7 sage / storage humidity 9%RH or less (noncondensing) ltitude m or less above sea level ibration/shock Resistance 4.9m/s (.G) / 9.6m/s (G) onfiguration ase mounted pprox. mass Kg..4 Dynamic brake (D) Operated at main power OFF, servo alarm, servo OFF.(OFF after motor stops; O when motor power is off.) Regenerative processing Optional (If the regenerated energy is too large, install a regenerative unit JSPRG8D) Overtravel (OT) prevention function P_OT, _OT Emergency stop Emergency stop (ESTP) LED display 4 LEDs (PR, RDY, OM, LM) MEHTROLIKII monitor MEHTROLIKII under communication : OM LED (Light O) Servo O/OFF monitor t Servo OFF : RDY LED (Light OFF), at Servo O : RDY LED (Light links) Power supply status monitor ontrol / maincircuit powersupply OFF state: PR LED (Light OFF) ontrol / maincircuit powersupply O state: PR LED (Light O) Electronic gearing,< /< Protection Overcurrent, overvoltage, undervoltage, overload, main circuit sensor error, board temperature error, excessive position error overflow, overspeed, encoder signal error, overrun protection, system error, parameter error MEHTROLIK omm. protocol MEHTROLIKII ommunication Transmission rate Mbps Transmission cycle ms,.ms, ms, 3ms, 4ms Data length 7 byte and 3 byte ommand input MEHTROLIK MEHTROLIKII commands communication (For sequence, motion, data setting/reference, monitor, adjustment, and other commands) Sequence Input signal Fixed input points (fixed layout: external latch signal, zero return reduced speed signal, forward drive inhibiting signal, reverse run inhibiting signal, emergency stop signal) Sequence Output signal Fixed output points (fixed layout: servo alarm, brake interlock) asic specifications uiltin functions ote: *. alue without external regeneration unit Junma Servo system 3

4 Junma Pulse s Type POY POY 4POY 8POY pplicable 4@ 8@ Max. pplicable Motor capacity 4 7 ontinuous output current rms Max. output current rms Input power supply oltage Singlephase, to 3, to % (/6 Hz) (Main circuit and control circuit) apacity K ontrol Method PM control, sine wave current drive system Feedback nalogue incremental encoder ( steps per revolution) llowable load inertia * kg m sage / storage temperature to / to 7 sage / storage humidity 9%RH or less (noncondensing) ltitude m or less above sea level ibration/shock Resistance 4.9m/s (.G) / 9.6m/s (G) onfiguration ase mounted ooling method Forced cooling (builtin fan) pprox. mass Kg.. Dynamic brake (D) Operated at main power OFF, servo alarm, servo OFF.(OFF after motor stops; O when motor power is off.) Regenerative processing Optional (If the regenerated energy is too large, install a regenerative unit JSPRG8D) LED display (PE,, L, L, L3) Reference filter Select one of eight levels with switch Protection Speed errors, overload, encoder errors, voltage errors, overcurrents, disablement of the builtin cooling fan, system errors Input signal for reference Pulse type Select one of the following signals: Designated pulse type and. pulse resolution with. Sign pulse train switch. 3. (logic reversal) 4. Sign pulse train (logic reversal) Pulse resolution Select one of the following signals:. pulses/rev (Open collector/line driver) 7 kpps max.. pulses/rev (Open collector/line driver) 87. kpps max. 3. pulses/rev (Line driver) 37 kpps max. 4. pulses/rev (Line driver) 7 kpps max. lear input signal lears the positioning error when turned O Servo O input signal Turns the servomotor O or OFF larm output signal OFF if an alarm occurs. (ote: OFF for s when power is turned O) rake output signal External signal to control brakes. Turn O to release the brake Positioning completed output signal O if the current position is equal to the reference position ± pulses.external signal to control brakes. Origin output signal O if the motor is at the origin. (idth: / rev) (ote:se the pulse edge that changes the signal from OFF to O) asic specifications uiltin functions I/O Signals ote: *. alue without external regeneration unit 4 Servo Systems

5 Dimensions Junma servomotors SJME (, ) Model L LL pprox. Mass (kg) SJMEM4OY SJMEM4OY ±3 Servomotor main circuit cable L LL 3± dia dia..3 Encoder connector Motor connector ross Section 4 46 dia. nits: mm Servo Systems Holding brake (deenergization operation) Power supply: 4 D.6 dia. ote: Only for servomotors with brakes Holding brake torque = Motor rated torque 4.3 dia. SJME, 4, 8 (, to 7) Model L LL LR LG LE S L L LD LF L LZ QK pprox. Mass (kg) SJMEM4OY SJMEM4OY SJME4M4OY SJME4M4OY SJME8M4OY SJME8M4OY ±3 Servomotor main circuit cable Encoder connector Motor connector 3 nits: mm L LL 3±3 LG.8 LR LE.3 LF dia. QK LD S dia. L dia. ross Section L L dia. Holding brake (deenergization operation) Power supply: 4 D ote: Only for servomotors with brakes Holding brake torque = Motor rated torque.6 dia. 4LZ dia. Servomotor connectors Encoder onnector Specifications PG PG(GD) Phase Phase Phase Phase Phase /Z Phase Phase Phase FG Plug: 9P Terminal: 8T(chained) or 8TL(detached) (Manufacture: Molex Japan o., Ltd) Red lack lue lue/hite Yellow Yellow/hite Purple Gray Green Orange Shield Motor onnector Specifications Phase Phase Phase F G Plug: 96P Terminal (o. to 3,, 6): 8T(chained) or 8TL(detached) Grounding Pin (o.4): 349(chained) or 349 (detached) (Manufacture: Molex Japan o., Ltd) o brake Red hite lue Green/Yellow Phase Phase Phase F G rake rake ith brake Red hite lue Green/Yellow Red lack Junma Servo system

6 Junma MEHTROLIKII servo drives SJDE,, 4OY (, to 4) IR FLO (6) (4.) (6) 6 iew ooling fan. M4 screw holes 39.±. (Mounting Pitch) Outline Ground Terminal M4 screws IR FLO 4 Model SJDEOY SJDEOY SJDE4OY, ooling Fan ot mounted ot mounted Mounted (7) () 9 3 () 3±. (8) (Mounting Pitch) 4 Detail view of installation pprox. mass : kg nits in mm SJDE8OY (, 7) (6) IR FLO (6) (4) 6 IR FLO iew (Scale = /),. 3M4 screw holes Ground Terminal M4 screws IR FLO () 9 ooling fan 39.. (Mounting Pitch) Outline 7 (7) 8 () 6 8. (6) (Mounting Pitch) 7 Detail view of installation pprox. mass :.4 kg nits in mm 6 Servo Systems

7 Junma pulse control servo drives SJDE, POY (, to ) (4) () (7) Mounting Hole Diagram 4. dia.holes IR FLO M4 screw holes 4 3. SJDE POY L L L3 PR L L ooling fan 4 3 ±. (Mounting pitch) Servo Systems () () Ground Terminal M4 screws (7) (4.) IR FLO () 7 (8) 3 pprox. mass :. kg nits in mm SJDE4POY (, 4) (4) (7) () Mounting Hole Diagram 4. dia.holes IR FLO M4 mounting holes isible ovutline SJDE 4 POY L L L ±. (Mounting pitch). PR L L ooling fan () () Ground Terminal M4 screws (7) (4.) IR FLO () 7 (33) 4 pprox. mass :. kg nits in mm SJDE8POY (, 8) (7) (44) (3) Mounting Hole Diagram 4 3 () (). Ground Terminal M4 screws dia.holes 4. SJDE 8 POY L L L3 PR L L (7) IR FLO ooling fan 4 3 ±. (4.) IR FLO 7 (3) () (Mounting pitch) M4 mounting holes isible outline pprox. mass : kg nits in mm Junma Servo system 7

8 Ordering Information Junma Servo Motor configuration Junma Servo Motor 3, rpm (7 ) (Refer to servo drive chapter) Junma MEHTROLIKII Junma Pulse D SJDE POY L L L Power cable PR L L Servomotors and Servo drives Symbol Specifications Servomotor model Servo drive model oltage Encoder and Design Rated Torque apacity MechatrolinkII Pulse ontrol Phase Power cables s nalogue Incremental Encoder (3 bit) Straight shaft with key onnectors for power and encoder cables ithout brake.38 m SJMEM4OY SJDEOY SJDEPOY.637 m SJMEM4OY SJDEOY SJDEPOY.7 m 4 SJME4M4OY SJDE4OY SJDE4POY.39 m 7 SJME8M4OY SJDE8OY SJDE8POY ith brake.38 m SJMEM4OY SJDEOY SJDEPOY.637 m SJMEM4OY SJDEOY SJDEPOY.7 m 4 SJME4M4OY SJDE4OY SJDE4POY.39 m 7 SJME8M4OY SJDE8OY SJDE8POY Symbol Specifications Model ppearance Power cable for Junma Flexible cables (Standard). m JZSPHME servomotors L/S listed 3 m JZSPHM3E without brake Shielded able m JZSPHME SJME@M4OY ending radius (Dynamic) > xdiameter m JZSPHME ycles > Milion m JZSPHME m JZSPHME on flexible cables 3 m R7Z3S m R7ZS m R7ZS Power cable for Junma servomotors with brake SJME@M4OY Flexible cables (Standard) L/S listed Shielded able ending radius (Dynamic) > xdiameter ycles > Milion. m JZSPHM3E 3 m JZSPHM33E m JZSPHM3E m JZSPHM3E m JZSPHM3E m JZSPHM3E on flexible cables 3 m R7Z3 m R7Z m R7Z Symbol Specifications Model (Flexible) ppearance D for Junma servomotors SJME@M4@OY Flexible cables (Standard) L/S listed Shielded able ending radius (Dynamic) > xdiameter ycles > Milion. m JZSPHP8E 3 m JZSPHP83E m JZSPHP8E m JZSPHP8E m JZSPHP8E m JZSPHP8E on flexible cables 3 m R7RZ3 m R7RZ m R7RZ Specifications Model (Omron) Model (Yaskawa) onnectors for making power cables Drive side () Manufacturer: JST (4JFTSYGF) R7Z JZSPHP9 Motor side Manufacturer: Molex (76R) R7Z JZSPHP9 onnectors for Drive side () Manufacturers 3M and Molex R7ZR JZSPHM9 Motor side Manufacturer: Molex (76) R7ZR JZSPHM9 8 Servo Systems

9 Junma MEHTROLIKII onfiguration (Refer to servo motor chapter) Junma Servo Motor 3, rpm (7 ) Junma ML F MechatrolinkII cables E MEHTROLIKII Motion controller D Power cable Filter H I G Personal computer software: XOne Servo Systems Servomotors and Servo drives Symbol Specifications Servomotor model Servo drive model Phase Power and encoder cables ote: D Refer to the Junma servo motor section for motor cables or connectors selection onnectors MechatrolinkII Motion controllers MechatrolinkII cables ables for I/Os (for ) Filters oltage Encoder and Design Rated Torque apacity nalogue Incremental Encoder (3 bit) Straight shaft with key Symbol ame Model E Position ontroller nit for J PL JF7 Position ontroller nit for S PL SF7 Trajexia standalone motion controller TJM6 Symbol Specifications Model F MechatrolinkII Terminator resistor JEPM6 MechatrolinkII ables. m JEPM63 m JEPM63 3 m JEPM633 m JEPM63 m JEPM63 m JEPM63 3 m JEPM633 Symbol ame ompatible units Model ontrol cable signals or JZSPHI3 able for servo drive I/O m R7PZS G m R7PZS or JZSPHI3 3 m JZSPHI33 Symbol pplicable servo Rated Leakage Rated Filter model drive current current voltage SJDEOY H.7 m R7FIZE SJDEOY phase SJDE4OY SJDE8OY 9.7 m R7FIZ9E Regenerative nit Model (Option) Symbol Specifications Model (Omron) Model (Yaskawa) I External regenerative unit R88RG8 JSPRG8D (Optional) ithout brake.38 m SJMEM4OY SJDEOY.637 m SJMEM4OY SJDEOY.7 m 4 SJME4M4OY SJDE4OY.39 m 7 SJME8M4OY SJDE8OY ith brake.38 m SJMEM4OY SJDEOY.637 m SJMEM4OY SJDEOY.7 m 4 SJME4M4OY SJDE4OY.39 m 7 SJME8M4OY SJDE8OY Specification Model (Omron) Model (Yaskawa) ontrol I/O connector (for ) R7R JZSPHI9 Power input connector (for ). (Included in drive the box) R7ZP JZSPHG9 omputer Software Specifications Model onfiguration and monitoring software tool via ML XDRIE (XDrive version.3 or higher) omplete Omron software package including XDrive XOE (XOne. or higher) Junma Servo system 9

10 Junma Pulse onfiguration (Refer to servo motor chapter) Junma Servo Motor 3, rpm (7 ) D Power cable Filter J K Junma Pulse SJDE POY L L L3 PR L L F H I E I G onnector terminal block General purpose controller (with pulse output) Position control unit Servomotors and Servo drives Symbol Specifications Servomotor model Servo drive model oltage Encoder and Design Rated Torque apacity Pulse ontrol nalogue Incremental Encoder (3 bit) Phase Straight shaft with key Power and encoder cables ote: D Refer to the Junma servo motor section for motor cables or connectors selection ithout brake.38 m SJMEM4OY SJDEPOY.637 m SJMEM4OY SJDEPOY.7 m 4 SJME4M4OY SJDE4POY.39 m 7 SJME8M4OY SJDE8POY ith brake.38 m SJMEM4OY SJDEPOY.637 m SJMEM4OY SJDEPOY.7 m 4 SJME4M4OY SJDE4POY.39 m 7 SJME8M4OY SJDE8POY ontrol cables (for ) Symbol ame ompatible units Model Servo relay unit J3/33, ( axis) nits: S3/33, XJ6 E H3 F G nits: S3/33/43/433, J3/33/43/433, H3/43 nits: QMHPL and QMP43 se with JMP//3 able to For the servo relay unit servo drive X@@J6@, XJ68, X4J69 able to QMHPL and position QMP43 control unit S3 and H3 S3/43 and H3/43 S33 S33/433 J3 J3/43 J33 S33/433 JMP//3 X4J6 ( axes) XJ63 ( axis) XJ68 ( axis) X4J69 ( axes) m XZJ7 m XZJ7. m XZJ3 m XZJ3. m XZJ8 m XZJ8. m XZJ9 m XZJ9. m XZJ m XZJ. m XZJ3 m XZJ3. m XZJ6 m XZJ6. m XZJ7 m XZJ7. m XZJ m XZJ. m XZJ m XZJ. m XZJ6 m XZJ6 Symbol ame ompatible units Model H ontrol cabllers or JZSPHI3 For generalpurpose control m R7PZS m R7PZS or JZSPHI3 3 m JZSPHI33 I Filters onnector terminal block cable onnector terminal block Regenerative nit Model (Option) onnectors For generalpurpose controllers m XZJ9 m XZJ9 XG Symbol pplicable servo Rated Leakage Rated Filter model drive current current voltage SJDEPOY J.7 m R7FIZPE SJDEPOY phase SJDE4POY SJDE8POY 9.7 m R7FIZP9E Symbol Specifications Model (Omron) Model (Yaskawa) K External regenerative unit R88RG8 JSPRG8D (Optional) Specification Model (Omron) Model (Yaskawa) ontrol I/O connector (for ) R7R JZSPHI9 Power input connector (for ). (Included in drive the box) R7ZP JZSPHG9 Servo Systems

JUNMA SERVO SYSTEM. S a v e s p a c e, s a v e w i r i n g, s a v e t i m e » MECHATROLINK-II. » Tuning-less concept.

JUNMA SERVO SYSTEM. S a v e s p a c e, s a v e w i r i n g, s a v e t i m e » MECHATROLINK-II. » Tuning-less concept. JUM SERVO SYSTEM S a v e s p a c e, s a v e w i r i n g, s a v e t i m e» ompact size» MEHTROLIKII» Tuningless concept dvanced Industrial utomation new concept in drive simplicity The Junma ultracompact