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Mitsubishi Electric GENERAL PURPOSE AC SERVO MR-E- A/AG Instruction Manual

General-purpose ac servo.
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General-Purpose AC Servo
MODEL
MR-E- A/AG
INSTRUCTION MANUAL
B

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   Summary of Contents for Mitsubishi Electric GENERAL PURPOSE AC SERVO MR-E- A/AG

  • Page 1

    General-Purpose AC Servo MODEL MR-E- A/AG INSTRUCTION MANUAL...

  • Page 2: Safety Instructions

    (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.

  • Page 3

    1. To prevent electric shock, note the following: Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work.

  • Page 4

    4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.

  • Page 5

    (2) Wiring Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Do not connect AC power directly to the servo motor.

  • Page 6

    (5) Corrective actions When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention.

  • Page 7

    About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area). FOR MAXIMUM SAFETY This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.

  • Page 8: Compliance With Ec Directives

    COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).

  • Page 9

    (5) Grounding (a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked servo amplifier to the protective earth (PE) of the control box. Connect PE terminal of the control box to the NEUTRAL of a power supply. Be sure to ground the NEUTRAL of a power supply. (b) Do not connect two ground cables to the same protective earth (PE) terminal.

  • Page 10

    CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used (Acquisition schedule) Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-E-10A to MR-E-200A Servo motor :HC-KFE HC-SFE (2) Installation Install a fan of 100CFM (2.8 m cooling of at least equivalent capability.

  • Page 11

    MEMO A - 10...

  • Page 12: Table Of Contents

    1. FUNCTIONS AND CONFIGURATION 1.1 Introduction... 1- 1 1.2 Function block diagram ... 1- 2 1.3 Servo amplifier standard specifications ... 1- 3 1.4 Function list ... 1- 4 1.5 Model code definition ... 1- 6 1.6 Combination with servo motor... 1- 6 1.7 Parts identification...

  • Page 13

    4. OPERATION 4.1 When switching power on for the first time... 4- 1 4.2 Startup... 4- 2 4.2.1 Selection of control mode... 4- 2 4.2.2 Position control mode ... 4- 2 4.2.3 Internal speed control mode ... 4- 4 5. PARAMETERS 5.1 Parameter list ...

  • Page 14

    7.3 Manual mode 1 (simple manual adjustment)... 7- 7 7.3.1 Operation of manual mode 1 ... 7- 7 7.3.2 Adjustment by manual mode 1 ... 7- 7 7.4 Interpolation mode ... 7-10 8. SPECIAL ADJUSTMENT FUNCTIONS 8.1 Function block diagram ... 8- 1 8.2 Machine resonance suppression filter ...

  • Page 15

    13.2 Auxiliary equipment ... 13-21 13.2.1 Recommended wires ... 13-21 13.2.2 No-fuse breakers, fuses, magnetic contactors... 13-23 13.2.3 Power factor improving reactors ... 13-23 13.2.4 Relays... 13-24 13.2.5 Surge absorbers ... 13-24 13.2.6 Noise reduction techniques... 13-24 13.2.7 Leakage current breaker... 13-30 13.2.8 EMC filter...

  • Page 16

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.1. Functions and configuration... 15- 1 15.1.1 Introduction... 15- 1 15.1.2 Function block diagram ... 15- 2 15.1.3 Servo amplifier standard specifications ... 15- 3 15.1.4 Model code definition... 15- 4 15.1.5 Parts identification ...

  • Page 17

    MEMO...

  • Page 18: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The Mitsubishi MR-E series general-purpose AC servo is based on the MR-J2-Super series, and has the same high performance and limited functions. It has position control and internal speed control modes. Further, it can perform operation with the control modes changed, e.g.

  • Page 19: Function Block Diagram

    1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. Servo amplifier (Note 3) (Note 2) Power supply 3-phase 200 to 230VAC, 1-phase 230VAC Regenerative brake Pulse input Note:1. The built-in regenerative brake resistor is not provided for the MR-E-10A/20A. 2.

  • Page 20: Servo Amplifier Standard Specifications

    1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications Servo Amplifier MR-E- Item Voltage/frequency Permissible voltage fluctuation Permissible frequency fluctuation Power supply capacity System Dynamic brake Protective functions Max. input pulse frequency Command pulse multiplying factor In-position range setting Error excessive Torque limit Speed control range Speed fluctuation ratio...

  • Page 21: Function List

    1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the corresponding chapters and sections. Function Position control mode This servo is used as position control servo. Internal speed control mode This servo is used as internal speed control servo.

  • Page 22: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION Function Alarm history clear Alarm history is cleared. If the input power supply voltage had reduced to cause an Restart after instantaneous alarm but has returned to normal, the servo motor can be power failure restarted by merely switching on the start signal. Command pulse train form can be selected from among four Command pulse selection different types.

  • Page 23: Model Code Definition

    1. FUNCTIONS AND CONFIGURATION 1.5 Model code definition (1) Rating plate MITSUBISHI MODEL MR-E-40A :400W POWER :2.6A 3PH200-230V 50Hz INPUT :170V 0-360Hz OUTPUT :XXXXYYYYY SERIAL MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model MR - E Series General-purpose interface Rated output Symbol Rated output [W] Symbol Rated output [W] 1.6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors.

  • Page 24: Parts Identification

    1. FUNCTIONS AND CONFIGURATION 1.7 Parts identification (1) MR-E-100A or less MODE MITSUBISHI CNP2 CNP1 Name/Application Display The 5-digit, seven-segment LED shows the servo status and alarm number. Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. MODE DOWN Used to set data.

  • Page 25

    1. FUNCTIONS AND CONFIGURATION (2) MR-E-200A Cooling fan Installation notch (4 places) Name/Application Display The 5-digit, seven-segment LED shows the servo status and alarm number. Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. DOWN MODE Used to set data.

  • Page 26: Servo System With Auxiliary Equipment

    1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked box. (1) MR-E-100A or less (Note 2) 3-phase 200V Options and auxiliary equipment to 230VAC power No-fuse breaker supply or 1-phase 230VAC...

  • Page 27

    1. FUNCTIONS AND CONFIGURATION (2) MR-E-200A Options and auxiliary equipment 3-phase 200V No-fuse breaker to 230VAC power supply Magnetic contactor Servo configuration software No-fuse breaker (NFB) or fuse Magnetic MODE contactor (MC) M I T SUBI S HI Power factor improving reactor (FR-BAL)

  • Page 28: Environmental Conditions

    2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.

  • Page 29: Installation Direction And Clearances

    2. INSTALLATION 2.2 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, a fault may occur. CAUTION Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) Installation of one servo amplifier Control box 40mm (1.6 in.)

  • Page 30: Keep Out Foreign Materials

    2. INSTALLATION (3) Others When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction. 2.3 Keep out foreign materials (1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier.

  • Page 31

    2. INSTALLATION MEMO 2 - 4...

  • Page 32: Signals And Wiring

    3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 10 minutes, and after the charge lamp has gone off, make sure that the voltage is safe in the tester or like.

  • Page 33: Standard Connection Example

    3. SIGNALS AND WIRING 3.1 Standard connection example POINT Refer to Section 3.7.1 for the connection of the power supply system and to Section 3.8 for connection with the servo motor. 3.1.1 Position control mode (1) FX-10GM Positioning module FX-10GM SVRDY COM2 COM2...

  • Page 34

    3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

  • Page 35

    3. SIGNALS AND WIRING (2) AD75P (A1SD75P Positioning module AD75P (A1SD75P READY INPS PGO(24V) PGO(5V) PGO COM CLEAR CLEAR COM PULSE F- PULSE F+ PULSE R- PULSE R+ PULSE F PULSE COM PULSE R PULSE COM STOP START (Note 3, 5) Emergency stop Servo-on Reset (Note 5) Forward rotation stroke end...

  • Page 36

    3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

  • Page 37

    3. SIGNALS AND WIRING (3) QD75D (differential driver) Positioning module QD75D READY RDY COM PGO5 PGO COM CLEAR CLEAR COM PULSE F- PULSE F+ PULSE R- PULSE R+ STOP PULSER A+ PULSER A- PULSER B+ PULSER B- Manual pulse generator MR-HDP01 (Note 3, 5) Emergency stop Servo-on...

  • Page 38

    3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

  • Page 39: Internal Speed Control Mode

    3. SIGNALS AND WIRING 3.1.2 Internal speed control mode (Note 3, 5) Emergency stop Servo-on Forward rotation start Reverse rotation start (Note 5) Forward rotation stroke end Reverse rotation stroke end Personal (Note 9) computer Servo configuration software Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked the protective earth (PE) of the control box.

  • Page 40: Internal Connection Diagram Of Servo Amplifier

    3. SIGNALS AND WIRING 3.2 Internal connection diagram of servo amplifier The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode. Servo amplifier (Note) External power supply 24VDC Case Note.

  • Page 41: I/o Signals

    3. SIGNALS AND WIRING 3.3 I/O signals 3.3.1 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to the next page for CN1 signal assignment. (1) Signal arrangement MODE MITSUBISHI MR-E...

  • Page 42

    3. SIGNALS AND WIRING (2) CN1 signal assignment The signal assignment of connector changes with the control mode as indicated below; For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters. Connector Pin No.

  • Page 43

    3. SIGNALS AND WIRING (3) Symbols and signal names Symbol Signal name Servo-on Forward rotation stroke end Reverse rotation stroke end Clear Speed selection 1 Speed selection 2 Proportion control Forward rotation start Reverse rotation start Torque limit selection Reset Emergency stop Control change Forward/reverse rotation pulse train...

  • Page 44: Signal Explanations

    3. SIGNALS AND WIRING 3.3.2 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.6.2. In the control mode field of the table P : Position control mode, S: Internal speed control mode : Denotes that the signal may be used in the initial setting status.

  • Page 45

    3. SIGNALS AND WIRING Connec- Signal Symbol tor pin Internal torque limit selection Forward rotation CN1-3 start Reverse rotation CN1-5 start Speed selection 1 Speed selection 2 Speed selection 3 Proportion control Functions/Applications When using this signal, make it usable by making the setting of parameter No.

  • Page 46

    3. SIGNALS AND WIRING Connec- Signal Symbol tor pin Emergency stop CN1-8 Clear CN1-5 Electronic gear selection 1 Electronic gear selection 2 Gain changing Control change Forward rotation CN1-23 pulse train Reverse rotation CN1-25 pulse train CN1-22 CN1-24 Functions/Applications Disconnect EMG-SG to bring the servo motor to emergency stop state, in which the servo is switched off and the dynamic brake is operated.

  • Page 47

    3. SIGNALS AND WIRING (2) Output signals Connec- Signal Symbol tor pin Trouble CN1-9 Ready CN1-11 RD-SG are connected when the servo is switched on and the servo In position CN1-10 Speed reached Zero speed CN1-12 ZSP-SG are connected when the servo motor speed is zero speed Electromagnetic (CN1-12) Set "...

  • Page 48

    3. SIGNALS AND WIRING Connec- Signal Symbol tor pin Alarm code ACD 0 ACD 1 ACD 2 Functions/Applications To use this signal, set " 1 " in parameter No.49. This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.

  • Page 49

    3. SIGNALS AND WIRING Connec- Signal Symbol tor pin Encoder Z-phase CN1-21 Outputs the zero-point signal of the encoder. One pulse is output pulse (Open collector) Encoder A-phase CN1-15 pulse (Differential line CN1-16 driver) Encoder B-phase CN1-17 pulse (Differential line CN1-18 driver) Encoder Z-phase...

  • Page 50: Detailed Description Of The Signals

    3. SIGNALS AND WIRING 3.4 Detailed description of the signals 3.4.1 Position control mode (1) Pulse train input (a) Input pulse waveform selection Encoder pulses may be input in any of three different forms, for which positive or negative logic can be chosen.

  • Page 51

    3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shown below: The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG.

  • Page 52

    3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below: The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows.

  • Page 53

    3. SIGNALS AND WIRING (2) In-position (INP) PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the in-position range. Servo-on (SON) Alarm Droop pulses...

  • Page 54

    3. SIGNALS AND WIRING (5) Torque limit (a) Torque limit and torque By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below.

  • Page 55: Internal Speed Control Mode

    3. SIGNALS AND WIRING 3.4.2 Internal speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters. The following table indicates the rotation direction according to forward rotation start (ST1) and reverse rotation start (ST2) combination: (Note) External input signals Note.0: ST1/ST2-SG off (open)

  • Page 56

    3. SIGNALS AND WIRING (b) Speed selection 1 (SP1), speed selection 2 (SP2), speed selection 3 (SP3) and speed command value By making speed selection 1 (SP1), speed selection 2 (SP2) and speed selection 3 (SP3) usable by setting of parameter No. 43 to 47, you can choose the speed command values of internal speed commands 1 to 7.

  • Page 57: Position/internal Speed Control Change Mode

    3. SIGNALS AND WIRING 3.4.3 Position/internal speed control change mode Set "0001" in parameter No. 0 to switch to the position/internal speed control change mode. This function is not available in the absolute position detection system. (1) Control change (LOP) Use control change (LOP) to switch between the position control mode and the internal speed control mode from an external contact.

  • Page 58

    3. SIGNALS AND WIRING (3) Internal speed setting in speed control mode (a) Speed command and speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are as in (a), (1) in section 3.4.2. Generally, make connection as shown below: (b) Speed selection 2 (SP2) and speed command value Use speed selection 2 (SP2) to select between the speed set by the internal speed command 1 and...

  • Page 59: Alarm Occurrence Timing Chart

    3. SIGNALS AND WIRING 3.5 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation CAUTION signal is not being input, ensure safety, and reset the alarm before restarting operation. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.

  • Page 60: Interfaces

    3. SIGNALS AND WIRING 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. External power supply 24VDC DI-1 (Note) Servo motor Ground Note: For the open collection pulse train input. Make the following connection for the different line driver pulse train input.

  • Page 61: Detailed Description Of The Interfaces

    3. SIGNALS AND WIRING 3.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.3.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.

  • Page 62

    3. SIGNALS AND WIRING (b) Lamp load Servo amplifier ALM, etc. (3) Pulse train input interface DI-2 Provide a pulse train signal in the open collector or differential line driver system. (a) Open collector system 1) Interface Servo amplifier External power supply 24VDC PP, NP 2) Conditions of the input pulse...

  • Page 63

    3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface 2) Conditions of the input pulse PP PG NP NG (4) Encoder pulse output (a) Open collector system Interface Max. output current : 35mA Servo amplifier Servo amplifier Max. input pulse frequency 500kpps Am26LS31 or equivalent PP(NP)

  • Page 64

    3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Max. output current: 35mA Servo amplifier (LB, LZ) (LBR, LZR) 2) Output pulse Servo motor CCW rotation (5) Analog output Output voltage 10V Max.1mA Max. output current Resolution : 10bit Servo amplifier (MO2) Reading in one or...

  • Page 65: Input Power Supply Circuit

    3. SIGNALS AND WIRING 3.7 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. CAUTION Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

  • Page 66: Terminals

    3. SIGNALS AND WIRING (2) For 1-phase 230VAC power supply Power supply 1-phase 230VAC Emergency stop Servo-on Note: To use the built-in regenerative resistor, be sure to connect across P and D of the power supply connector (CNP1). 3.7.2 Terminals Refer to Section 11.1 (4) for the signal arrangement.

  • Page 67: Power-on Sequence

    3. SIGNALS AND WIRING 3.7.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with the power supply (three-phase 200V: L external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) The servo amplifier can accept the servo-on signal (SON) 2s or more after the power supply is switched on.

  • Page 68: Connection Of Servo Amplifier And Servo Motor

    3. SIGNALS AND WIRING 3.8 Connection of servo amplifier and servo motor 3.8.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric WARNING shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.

  • Page 69

    3. SIGNALS AND WIRING Servo motor HC-KFE13 (B) to 73 (B) Note:1. To prevent an electric shock, always connect the protective earth (PE) terminal of the HC-SFE52 (B) to 152 (B) Note:1. To prevent an electric shock, always connect the protective earth (PE) terminal of the HC-SFE202 (B) Note:1.

  • Page 70: I/o Terminals

    3. SIGNALS AND WIRING 3.8.3 I/O terminals (1) HC-KFE series Encoder cable 0.3m (0.98ft.) With connector 1-172169-9 (AMP) Power supply connector Pin Signal 5557-04R-210 Earth View b Power supply lead 4-AWG19 0.3m (0.98ft.) Power supply connector (molex) Without electromagnetic brake 5557-04R-210 (receptacle) 5556PBTL (Female terminal) With electromagnetic brake...

  • Page 71

    3. SIGNALS AND WIRING (2) HC-SFE series Encoder connector Brake connector Power supply connector Power supply connector signal arrangement CE05-2A22-23PD-B View c Encoder connector signal arrangement MS3102A20-29P Signal View a Servo motor HC-SFE52(B) to 152(B) HC-SFE202(B) CE05-2A24-10PD-B Signal (Earth) (Note) B1 View c (Note) B2 Note:Supply electromagnetic...

  • Page 72: Servo Motor With Electromagnetic Brake

    3. SIGNALS AND WIRING 3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. CAUTION The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.

  • Page 73

    3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on signal command (from controller) ON/OFF Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.

  • Page 74

    3. SIGNALS AND WIRING (c) Alarm occurrence Servo motor speed Base circuit Invalid(ON) Electromagnetic brake interlock (MBR) Valid(OFF) No(ON) Trouble (ALM) Yes(OFF) (d) Power off Servo motor speed Base circuit Invalid(ON) Electromagnetic brake interlock(MBR) Valid(OFF) No(ON) Trouble (ALM) Yes(OFF) power Note: Changes with the operating status.

  • Page 75: Grounding

    3. SIGNALS AND WIRING 3.10 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor.

  • Page 76: Servo Amplifier Connectors (cnp1, Cnp2) Wiring Method When Mr-ecpn1-b And Mr-ecpn2-b Of An Option Are Used.)

    3. SIGNALS AND WIRING 3.11 Servo amplifier connectors (CNP1, CNP2) wiring method (When MR-ECPN1-B and MR-ECPN2-B of an option are used.) (1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cable size: 0.2 to 2.5mm Twisted wire: Use the cable after stripping the sheath and twisting the core.

  • Page 77

    3. SIGNALS AND WIRING (2) Inserting the cable into the connector (a) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work. (R0.3) (R0.3) (b) When using the flat-blade screwdriver - part 1 (22) 1) Insert the screwdriver into the square hole. Insert it along the top of the square hole to insert it smoothly.

  • Page 78

    3. SIGNALS AND WIRING (c) When using the flat-blade screwdriver - part 2 1) Insert the screwdriver into the square window at top of the connector. 4) Releasing the screwdriver connects the cable. 2) Push the screwdriver in the direction of arrow. 3 - 47 3) With the screwdriver pushed, insert the cable in the direction of arrow.

  • Page 79: Instructions For The 3m Connector

    3. SIGNALS AND WIRING 3.12 Instructions for the 3M connector When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...

  • Page 80: Operation

    4. OPERATION 4. OPERATION 4.1 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (L (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.

  • Page 81: Startup

    4. OPERATION 4.2 Startup Do not operate the switches with wet hands. You may get an electric shock. WARNING Before starting operation, check the parameters. Some machines may perform unexpected operation. During power-on for some after power-off, do not touch or close a parts (cable etc.) CAUTION to the servo amplifier heat sink, regenerative brake resistor, the servo motor, etc.

  • Page 82

    4. OPERATION (4) Servo-on Switch the servo-on in the following procedure: 1) Switch on power supply. 2) Switch on the servo-on signal (SON). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

  • Page 83: Internal Speed Control Mode

    4. OPERATION 4.2.3 Internal speed control mode (1) Power on 1) Switch off the servo-on (SON) signal. 2) When circuit power is switched on, the display shows "r (servo motor speed)", and in two second later, shows data. (2) Test operation Using jog operation in the test operation mode, make sure that the servo motor operates.

  • Page 84

    4. OPERATION (6) Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start (ST1) or reverse rotation start (ST2) signal has the same stop pattern as described below.

  • Page 85

    4. OPERATION MEMO 4 - 6...

  • Page 86: Parameters

    5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. 5.1 Parameter list 5.1.1 Parameter write inhibit POINT After setting the parameter No. 19 value, switch power off, then on to make that setting valid.

  • Page 87: Lists

    5. PARAMETERS 5.1.2 Lists POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. The symbols in the control mode column of the table indicate the following modes: P : Position control mode S : Internal speed control mode...

  • Page 88

    5. PARAMETERS No. Symbol *OP2 Function selection 2 *OP3 Function selection 3 (Command pulse selection) *OP4 Function selection 4 Feed forward gain Zero speed For manufacturer setting For manufacturer setting *ENR Encoder output pulses Internal torque limit 1 For manufacturer setting For manufacturer setting Analog monitor 1 offset Analog monitor 2 offset...

  • Page 89

    5. PARAMETERS No. Symbol For manufacturer setting *OP6 Function selection 6 For manufacturer setting *OP8 Function selection 8 *OP9 Function selection 9 *OPA Function selection A Serial communication time-out selection For manufacturer setting Machine resonance suppression filter 1 Machine resonance suppression filter 2 Low-pass filter, adaptive vibration suppression control GD2B Ratio of load inertia moment to Servo motor inertia moment 2...

  • Page 90

    5. PARAMETERS (2) Details list Class No. Symbol *STY Control mode, regenerative brake option selection Used to select the control mode and regenerative brake option. POINT Wrong setting may cause the regenerative brake option to burn. If the regenerative brake option selected is not for use with the servo amplifier, parameter error (AL.37) occurs.

  • Page 91

    5. PARAMETERS Class No. Symbol Auto tuning Used to selection the response level, etc. for execution of auto tuning. Refer to Chapter 7. Electronic gear numerator Used to set the electronic gear numerator value. For the setting, refer to Section 5.2.1. Setting "0"...

  • Page 92

    5. PARAMETERS Class No. Symbol In-position range Used to set the in-position signal (INP) output range in the command pulse increments prior to electronic gear calculation. Position loop gain 1 Used to set the gain of position loop. Increase the gain to improve trackability in response to the position command.

  • Page 93

    5. PARAMETERS Class No. Symbol Internal speed command 2 Used to set speed 2 of internal speed commands. Internal speed command 3 Used to set speed 3 of internal speed commands. Acceleration time constant Used to set the acceleration time required to reach the rated speed from 0r/min in response to the internal speed commands 1 to 7.

  • Page 94

    5. PARAMETERS Class No. Symbol For manufacturer setting Don’t change this value by any means. *SNO Station number setting Used to specify the station number for serial communication. Always set one station to one axis of servo amplifier. If one station number is set to two or more stations, normal communication cannot be made.

  • Page 95

    5. PARAMETERS Class No. Symbol Status display selection Used to select the status display shown at power-on. *BLK Parameter block Used to select the reference and write ranges of the parameters. Operation can be performed for the parameters marked value 0000 Reference (Initial...

  • Page 96: Speed Control Mode

    5. PARAMETERS Class No. Symbol Function selection 2 *OP2 Used to select restart after instantaneous power failure, servo lock at a stop in internal speed control mode, and slight vibration suppression control. Encoder cable communication system selection *OP3 Function selection 3 (Command pulse selection) Used to select the input form of the pulse train input signal.

  • Page 97

    5. PARAMETERS Class No. Symbol *OP4 Function selection 4 Used to select stop processing at forward rotation stroke end (LSP) reverse rotation stroke end (LSN) off and choose TLC/VLC output. Feed forward gain Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero.

  • Page 98

    5. PARAMETERS Class No. Symbol *ENR Encoder output pulses Used to set the encoder pulses (A-phase or B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No. 54 to choose the output pulse designation or output division ratio setting.

  • Page 99

    5. PARAMETERS Class No. Symbol Position loop gain 2 Used to set the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used.

  • Page 100

    5. PARAMETERS Class No. Symbol *DI1 Input signal selection 1 Used to assign the control mode changing signal input pins and to set the clear (CR). Name and function Control change (LOP) input pin assignment Used to set the control mode change signal input connector pins.

  • Page 101

    5. PARAMETERS Class No. Symbol *DI2 Input signal selection 2 (CN1-4) Allows any input signal to be assigned to CN1-pin 4. Note that the setting digit and assigned signal differ according to the control mode. Signals that may be assigned in each control mode are indicated below by their symbols.

  • Page 102

    5. PARAMETERS Class No. Symbol *DI3 Input signal selection 3 (CN1-3) Allows any input signal to be assigned to CN1-pin 3. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). This parameter is unavailable when parameter No. 42 is set to assign the control change (LOP) to CN1-pin 3.

  • Page 103

    5. PARAMETERS Class No. Symbol Input signal selection 6 (CN1-7) *DI6 Allows any input signal to be assigned to CN1-pin 7. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP) to CN1-pin 7.

  • Page 104

    5. PARAMETERS Class No. Symbol *DO1 Output signal selection 1 Used to select the connector pins to output the alarm code and warning (WNG). Name and function Setting of alarm code output Connector pins Set value CN1-11 CN1-10 INP or SA Alarm code is output at alarm occurrence.

  • Page 105

    5. PARAMETERS Class No. Symbol For manufacturer setting Don’t change this value by any means. *OP6 Function selection 6 Used to select the operation to be performed when the reset (RES) switches on. For manufacturer setting Don’t change this value by any means. *OP8 Function selection 8 Used to select the protocol of serial communication.

  • Page 106

    5. PARAMETERS Class No. Symbol *OPA Function selection A Used to select the position command acceleration/deceleration time constant (parameter No. 7) control system. Serial communication time-out selection Used to set the communication protocol time-out period in [s]. When you set "0", time-out check is not made. For manufacturer setting Don’t change this value by any means.

  • Page 107

    5. PARAMETERS Class No. Symbol Low-pass filter/adaptive vibration suppression control Used to selection the low-pass filter and adaptive vibration suppression control. (Refer to Chapter 8.) GD2B Ratio of load inertia moment to servo motor inertia moment 2 Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid.

  • Page 108

    5. PARAMETERS Class No. Symbol *CDP Gain changing selection Used to select the gain changing condition. (Refer to Section 8.5.) Gain changing condition Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No.

  • Page 109

    5. PARAMETERS Class No. Symbol Internal speed command 5 Used to set speed 5 of internal speed commands. Internal speed command 6 Used to set speed 6 of internal speed commands. Internal speed command 7 Used to set speed 7 of internal speed commands. Internal torque limit 2 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%].

  • Page 110: Detailed Description

    5. PARAMETERS 5.2 Detailed description 5.2.1 Electronic gear CAUTION Wrong setting can lead to unexpected fast rotation, causing injury. POINT The guideline of the electronic gear setting range is If the set value is outside this range, noise may be generated during acceleration/ deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.

  • Page 111: Analog Monitor

    5. PARAMETERS (2) Conveyor setting example For rotation in increments of 0.01 per pulse Machine specifications Table : 360 /rev Reduction ratio: n 1/18 Servo motor resolution: Pt 0.01 Hence, set 5 to CMX and 1 to CDV. 5.2.2 Analog monitor The servo status can be output to two channels in terms of voltage.

  • Page 112

    5. PARAMETERS (2) Set content The servo amplifier is factory-set to output the servo motor speed to Analog monitor 1 (MO1) and the torque to Analog monitor 2 (MO2). The setting can be changed as listed below by changing the parameter No.17 value: Refer to Appendix 2 for the measurement point.

  • Page 113

    5. PARAMETERS (3) Analog monitor block diagram 5 - 28...

  • Page 114: Using Forward/reverse Rotation Stroke End To Change The Stopping Pattern

    5. PARAMETERS 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is made valid. A slow stop can be made by changing the parameter No. 22 value. Parameter No.22 Setting Sudden stop Position control mode...

  • Page 115: Position Smoothing

    5. PARAMETERS 5.2.5 Position smoothing By setting the position command acceleration/deceleration time constant (parameter No.7), you can run the servo motor smoothly in response to a sudden position command. The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration/deceleration time constant.

  • Page 116: Display And Operation

    6. DISPLAY AND OPERATION 6. DISPLAY AND OPERATION 6.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.

  • Page 117: Status Display

    6. DISPLAY AND OPERATION 6.2 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears.

  • Page 118: Status Display List

    6. DISPLAY AND OPERATION 6.2.2 Status display list The following table lists the servo statuses that may be shown: Name Symbol Cumulative feedback pulses Servo motor speed Droop pulses Cumulative command pulses Command pulse frequency Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Within one-revolution...

  • Page 119: Changing The Status Display Screen

    6. DISPLAY AND OPERATION Name Symbol Within one-revolution position high Load inertia moment ratio Bus voltage 6.2.3 Changing the status display screen The status display item of the servo amplifier display shown at power-on can be changed by changing the parameter No.

  • Page 120: Diagnostic Mode

    6. DISPLAY AND OPERATION 6.3 Diagnostic mode Name Sequence Refer to section 6.6. External I/O signal display Output signal (DO) forced output Jog feed Positioning operation Test operation mode Motorless operation Machine analyzer operation Software version low Software version high Manufacturer setting screen Motor series...

  • Page 121: Alarm Mode

    6. DISPLAY AND OPERATION 6.4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.

  • Page 122: Parameter Mode

    6. DISPLAY AND OPERATION 6.5 Parameter mode The parameters whose abbreviations are marked* are made valid by changing the setting and then switching power off once and switching it on again. Refer to Section 5.1.2. (1) Operation example The following example shows the operation procedure performed after power-on to change the control mode (parameter No.

  • Page 123: External I/o Signal Display

    6. DISPLAY AND OPERATION 6.6 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. (2) Display definition Input signals Always lit...

  • Page 124

    6. DISPLAY AND OPERATION (3) Default signal indications (a) Position control mode Input signals Output signals (b) Internal speed control mode Input signals Output signals EMG (CN 1-8) Emergency stop LSN (CN 1-7) Reverse rotation stroke end LSP (CN 1-6) Forward rotation stroke end CR (CN 1-5) Clear RES (CN 1-3) Reset SON (CN 1-4) Servo-on...

  • Page 125: Output Signal (do) Forced Output

    6. DISPLAY AND OPERATION 6.7 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (MBR) after assigning it to pin CN1-12 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.

  • Page 126: Test Operation Mode

    6. DISPLAY AND OPERATION 6.8 Test operation mode The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION Always use the servo motor alone. If any operational fault has occurred, stop operation using the emergency stop (EMG) signal.

  • Page 127: Jog Operation

    6. DISPLAY AND OPERATION 6.8.2 Jog operation Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the servo configuration software, you can change the operation conditions.

  • Page 128: Positioning Operation

    6. DISPLAY AND OPERATION 6.8.3 Positioning operation POINT The servo configuration software is required to perform positioning operation. Positioning operation can be performed once when there is no command from the external command device. (1) Operation Connect EMG-SG to start positioning operation to use the internal power supply. Click the "Forward"...

  • Page 129: Motor-less Operation

    6. DISPLAY AND OPERATION 6.8.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host programmable controller or the like.

  • Page 130: General Gain Adjustment

    7. GENERAL GAIN ADJUSTMENT 7. GENERAL GAIN ADJUSTMENT 7.1 Different adjustment methods 7.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order.

  • Page 131: Adjustment Using Servo Configuration Software

    7. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Interpolation made for 2 or more axes? Auto tuning mode 1 Operation Auto tuning mode 2 Operation Manual mode 1 Operation Manual mode 2 7.1.2 Adjustment using servo configuration software This section gives the functions and adjustment that may be performed by using the servo amplifier with the servo configuration software which operates on a personal computer.

  • Page 132

    7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.

  • Page 133: Auto Tuning Mode Operation

    7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Control gains Command PG2,VG2,VIC Parameter No. 2 First digit Response level Gain adjustment setting mode selection When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor.

  • Page 134: Adjustment Procedure By Auto Tuning

    7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.

  • Page 135: Response Level Setting In Auto Tuning Mode

    7. GENERAL GAIN ADJUSTMENT 7.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.2) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration.

  • Page 136: Manual Mode 1 (simple Manual Adjustment)

    7. GENERAL GAIN ADJUSTMENT 7.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 7.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.

  • Page 137

    7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed control gain 2 (parameter No. 37) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed loop response frequency(Hz)

  • Page 138

    7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 6) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.

  • Page 139: Interpolation Mode

    7. GENERAL GAIN ADJUSTMENT 7.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.

  • Page 140: Special Adjustment Functions

    8. SPECIAL ADJUSTMENT FUNCTIONS 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 7. If a mechanical system has a natural resonance level point, increasing the servo system response may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.

  • Page 141

    8. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (parameter No. 58) and machine resonance suppression filter 2 (parameter No. 59) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (parameter No.

  • Page 142: Adaptive Vibration Suppression Control

    8. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

  • Page 143: Low-pass Filter

    8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.60). Parameter No. 60 POINT Adaptive vibration suppression control is factory-set to be invalid (parameter No. 60: 0000). Setting the adaptive vibration suppression control sensitivity can change the sensitivity of detecting machine resonance.

  • Page 144: Gain Changing Function

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external input signal to change gains during operation. 8.5.1 Applications This function is used when: (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.

  • Page 145: Parameters

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.5.3 Parameters When using the gain changing function, always set " the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode. Parameter Abbrevi ation Position control gain 1 Speed control gain 1 Ratio of load inertia moment to servo motor inertia moment...

  • Page 146

    8. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. 6, 34 to 38 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed.

  • Page 147: Gain Changing Operation

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. (b) Changing operation Gain changing (CDP) Before-changing gain Change of each gain Position control gain 1 Speed control gain 1...

  • Page 148

    8. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. (b) Changing operation Droop pulses [pulses] Before-changing gain Change of each gain Position control gain 1 Speed control gain 1 Ratio of load inertia moment to servo motor inertia moment Position control gain 2 Speed control gain 2...

  • Page 149

    8. SPECIAL ADJUSTMENT FUNCTIONS MEMO 8 - 10...

  • Page 150: Inspection

    9. INSPECTION 9. INSPECTION Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. WARNING Any person who is involved in inspection should be fully competent to do the work.

  • Page 151

    9. INSPECTION (c) Servo amplifier cooling fan The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the fan must be changed in a few years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection. (d) Bearings When the servo motor is run at rated speed under rated load, change the bearings in 20,000 to 30,000 hours as a guideline.

  • Page 152: Troubleshooting

    10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the optional servo configuration software, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.

  • Page 153: Troubleshooting

    10. TROUBLESHOOTING Start-up sequence Gain adjustment Rotation ripples (speed fluctuations) are large at low speed. Large load inertia moment causes the servo motor shaft to oscillate side to side. Cyclic operation Position shift occurs Confirm the cumulative Note: Switch power on again after making sure that the charge lamp has turned off completely. Fault Investigation Make gain adjustment in the...

  • Page 154

    10. TROUBLESHOOTING (2) How to find the cause of position shift Positioning unit (a) Output pulse counter (C) Servo-on (SON), stroke end (LSP/LSN) input When a position shift occurs, check (a) output pulse counter, (b) cumulative command pulse display, (c) cumulative feedback pulse display, and (d) machine stop position in the above diagram.

  • Page 155: Internal Speed Control Mode

    10. TROUBLESHOOTING 10.1.2 Internal speed control mode Start-up sequence Power on (Note) LED is not lit. LED flickers. Alarm occurs. Switch on servo-on Alarm occurs. signal. Servo motor shaft is not servo-locked (is free). Switch on forward Servo motor does rotation start (ST1) not rotate.

  • Page 156: When Alarm Or Warning Has Occurred

    10. TROUBLESHOOTING 10.2 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (SON) signal at occurrence of an alarm. 10.2.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 10.2.2 or 10.2.3 and take the appropriate action.

  • Page 157: Remedies For Alarms

    10. TROUBLESHOOTING 10.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the CAUTION alarm, and restart operation. Otherwise, injury may occur. POINT When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation.

  • Page 158

    10. TROUBLESHOOTING Display Name Definition AL.1A Motor Wrong combination combination of servo anplifier error and servo motor. AL.20 Encoder error 2 Communication error occurred between encoder and servo amplifier. AL.24 Main circuit Ground fault error occurred at the servo motor outputs (U,V and W phases) of the servo amplififer.

  • Page 159

    10. TROUBLESHOOTING Display Name Definition AL.31 Overspeed Speed has exceeded the instantaneous permissible speed. AL.32 Overcurrent Current that flew is higher than the permissible current of the servo amplifier. AL.33 Overvoltage Converter bus voltage exceeded 400VDC. AL.35 Command Input pulse pulse frequency frequency of the error...

  • Page 160

    10. TROUBLESHOOTING Display Name Definition AL.37 Parameter Parameter setting is error wrong. AL.45 Main circuit Main circuit device device overheat overheat AL.46 Servo motor Servo motor overheat temperature rise actuated the thermal protector. AL.50 Overload 1 Load exceeded overload protection characteristic of servo amplifier.

  • Page 161

    10. TROUBLESHOOTING Display Name Definition AL.51 Overload 2 Machine collision or the like caused max. output current to flow successively for several seconds. Servo motor locked: During rotation: 2.5s or more AL.52 Error excessive The droop pulse value of the deviation counter exceeded 2.5 rotations.

  • Page 162: Remedies For Warnings

    10. TROUBLESHOOTING 10.2.3 Remedies for warnings If AL.E6 occurs, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Use the optional servo configuration software to refer to the cause of warning.

  • Page 163

    10. TROUBLESHOOTING MEMO 10 - 12...

  • Page 164: Outline Dimension Drawings

    11. OUTLINE DIMENSION DRAWINGS 11. OUTLINE DIMENSION DRAWINGS 11.1 Servo amplifiers (1) MR-E-10A MR-E-20A 50 (1.97) PE terminals Terminal screw: M4 Tightening torque: 1.2 [N m] (169.9 [oz in]) 135 (5.32) (2.76) 11 - 1 [Unit: mm] ([Unit: in]) (0.24) Weight: 0.7 [kg] (1.54 [lb])

  • Page 165

    11. OUTLINE DIMENSION DRAWINGS (2) MR-E-40A (2.76) PE terminals Terminal screw: M4 Tightening torque: 1.2 [N m] (169.9 [oz in]) 135 (5.32) (2.76) 11 - 2 [Unit: mm] ([Unit: in]) (0.87) Weight: 1.1 [kg] (2.43 [lb])

  • Page 166

    11. OUTLINE DIMENSION DRAWINGS (3) MR-E-70A MR-E-100A 70 (2.76) (2.76) PE terminals Terminal screw: M4 Tightening torque: 1.2 [N m] (169.9 [oz in]) 190 (7.48) (0.98) 11 - 3 [Unit: mm] ([Unit: in]) (1.65) (0.87) Weight: 1.7 [kg] (3.75 [lb])

  • Page 167

    11. OUTLINE DIMENSION DRAWINGS (4) MR-E-200A 90 (3.54) PE terminal Terminal screw: M4 Tightening torque: 1.2 [N m] 70 (2.76) 195 (7.68) (1.58) 11 - 4 [Unit: mm] ([Unit: in]) (0.24) (3.07) Weight: 2.0 [kg] (4.41 [lb])

  • Page 168: Connectors

    11. OUTLINE DIMENSION DRAWINGS 11.2 Connectors (1) Servo amplifier side <3M > (a) Soldered type Model Connector : 10126-3000VE Shell kit : 10326-52F0-008 22.0 (0.87) 33.3 (1.31) 12.7(0.50) (b) Threaded type Model Connector : 10126-3000VE Shell kit : 10326-52A0-008 Note. This is not available as option and should be user-prepared.

  • Page 169

    11. OUTLINE DIMENSION DRAWINGS (2) CN2 Connector Connector housing : 54593-1011 Cover A : 54594-1015 Cover B : 54595-1005 Shell cover : 58935-1000 Shell body : 58934-1000 Cable clamp : 58934-0000 Screw : 58203-0010 40 (1.58) 12.5 (0.49) (3) CN3 Connector (Marushin electric mfg) Connector: MP371/6 (0.24) 44.5 (1.75)

  • Page 170

    11. OUTLINE DIMENSION DRAWINGS (4) CNP1 CNP2 Connector (molex) (a) Insulation displacement type Circuit number indication (0.20) Pitch (0.10) Circuit number indication 3.75 (0.3) (0.15) Pitch Connector 51240-0300 51240-0600 Crimping tool: 57349-5300 (molex) (0.98) (0.34) 15.3 (0.60) Connector 51241-0300 51241-0600 Crimping tool: 57349-5300 (molex) (0.34) (0.98)

  • Page 171

    11. OUTLINE DIMENSION DRAWINGS (b) Insertion type Housing Housing cover 5 (0.20) Pitch 5 (0.20) (0.06) Housing Housing cover (0.3) Pitch (0.20) (0.3) (0.06) Connector 55757-0310 55755-0610 26.5 (1.04) 18 (0.71) (0.34) Connector 54927-0310 54927-0610 26.5 (1.04) 18 (0.71) (0.34) 11 - 8 Variable Dimensions Number of...

  • Page 172: Characteristics

    12. CHARACTERISTICS 12. CHARACTERISTICS 12.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 12.1, Overload 2 alarm (AL.51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.

  • Page 173

    12. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 (104 ). (With a 5 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 12.1: ...

  • Page 174: Dynamic Brake Characteristics

    12. CHARACTERISTICS 12.3 Dynamic brake characteristics Fig. 12.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 12.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.

  • Page 175: Encoder Cable Flexing Life

    12. CHARACTERISTICS 12.4 Encoder cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 10 5 10 1 10 5 10 1 10 5 10 1 10...

  • Page 176: Options And Auxiliary Equipment

    13. OPTIONS AND AUXILIARY EQUIPMENT 13. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, make sure that the charge WARNING lamp is off more than 10 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. Use the specified auxiliary equipment and options.

  • Page 177

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: a.

  • Page 178

    13. OPTIONS AND AUXILIARY EQUIPMENT Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option. Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation period tf [s] to select the necessary regenerative brake option.

  • Page 179

    13. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 6 (0.24) mounting hole MR-RB 6 (0.23) (b) MR-RB32 MR-RB30 3.2(0.13) 318(12.52) Regenerative brake option MR-RB32 MR-RB30 5 (0.20) (0.79) Regenerative Regenerative brake option power[W] MR-RB032 MR-RB12 [Unit: mm (in)] (7.05) 7(0.28) Terminal...

  • Page 180

    13. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 7 14 slot Terminal block 2.3(0.09) 200(7.87) 17(0.67) Regenerative Regenerative brake option power [W] MR-RB50 [Unit: mm (in)] Terminal block 7(0.28) 116(4.57) Terminal screw: M4 (0.47) 128(5.04) Tightening torque: 1.2 [N m](10 [lb in]) Resistance Weight [kg]...

  • Page 181: Cables And Connectors

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.2 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. Those indicated by broken lines in the figure are not options. Operation panel Controller Power supply 10) 11)

  • Page 182

    13. OPTIONS AND AUXILIARY EQUIPMENT Product Model Standard encoder MR-EKCBL M-L cable Refer to (2) (a) in this section. Long flexing life MR-EKCBL M-H encoder cable Refer to (2) (b) in this section. Standard encoder MR-ESCBL M-L cable Refer to (2) (c) in this section.

  • Page 183

    13. OPTIONS AND AUXILIARY EQUIPMENT Product Model Analog monitor MR-E3CBL15-P RS-232C branch cable Analog monitor MR-ECN3 RS-232C (In units of 20 pcs. connector /box) Communication Refer to (3) in this cable section. QC30R2 Motor power supply MR-PWCNS1 connector set Refer to Servo Motor Instruction Manual.

  • Page 184

    13. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable If you have fabricated the encoder cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 12.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .

  • Page 185

    13. OPTIONS AND AUXILIARY EQUIPMENT Encoder cable of less than 30m When fabricating an encoder cable, use the MR-ECNM connector set. Referring to the following wiring diagram, you can fabricate an encoder cable of up to less than 30m. MR-EKCBL2M-L MR-EKCBL5M-L MR-EKCBL10M-L Servo amplifier side...

  • Page 186

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-EKCBL M-H (long flex life model) Use this encoder cable with the HC-KFE series servo motor. 1) Model explanation Model: MR-EKCBL Symbol Cable Length [m(ft)] Communication System Note: Set "1 2) Connection diagram For the pin assignment on the servo amplifier side, refer to Section 3.3.1. Servo amplifier Encoder cable (option or fabricated)

  • Page 187

    13. OPTIONS AND AUXILIARY EQUIPMENT MR-EKCBL2M-H MR-EKCBL5M-H MR-EKCBL10M-H Servo amplifier side Plate Note. When an encoder cable is fabricated, this wire is not required. Encoder cable of 30m or more POINT The communication system of the encoder cable in this wiring diagram is the four-wire type.

  • Page 188

    13. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-ESCBL M-L (standard flex life model) These encoder cables are used with the HC-SFE series servo motors. 1) Model explanation Model: MR-ESCBL Symbol Cable Length [m(ft)] Communication System Note: Set "1 2) Connection diagram For the pin assignment on the servo amplifier side, refer to Section 3.3.1.

  • Page 189

    13. OPTIONS AND AUXILIARY EQUIPMENT Encoder cable of 30m or more POINT The communication system of the encoder cable in this wiring diagram is the four-wire type. Set "1 When fabricating an encoder cable, use the MR-ECNS connector set. Referring to the following wiring diagram, you can fabricate an encoder cable of up to 50m.

  • Page 190

    13. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-ESCBL M-H (long flex life model) MR-ENECBL model) These encoder cables are used with the HC-SFE series servo motors. 1) Model explanation Model: MR-ESCBL Symbol Cable Length [m(ft)] Communication System Note: Set "1 Model: MR-ENECBL Symbol Cable Length [m(ft)] Communication System Note: Set "1 Long flex life...

  • Page 191

    13. OPTIONS AND AUXILIARY EQUIPMENT 2) Connection diagram For the pin assignment on the servo amplifier side, refer to Section 3.3.1. Servo amplifier Encoder cable (Optional or fabricated) 50m(164.0ft) max. Encoder cable of less than 30m When fabricating an encoder cable, use the MR-ECNS (IP20-compatible model) or MR-ENECNS (IP65/IP67-compatible model) connector set.

  • Page 192

    13. OPTIONS AND AUXILIARY EQUIPMENT Encoder cable of 30m or more POINT The communication system of the encoder cable in this wiring diagram is the four-wire type. Set "1 When fabricating an encoder cable, use the MR-ECNS (IP20-compatible model) or MR-ENECNS (IP65/IP67-compatible model) connector set.

  • Page 193

    13. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. (a) Model definition Model: QC30R2 (Cable length 3[m](10[ft])) (b) Connection diagram for fabrication MR-CPCATCBL3M Personal computer side...

  • Page 194: Analog Monitor, Rs-232c Branch Cable (mr-e3cbl15-p)

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.3 Analog monitor, RS-232C branch cable (MR-E3CBL15-P) (1) Usage The analog monitor, RS-232C branch cable (MR-E3CBL15-P) is designed for use when a personal computer and analog monitor outputs are used at the same time. Servo amplifier Analog monitor, RS-232C branch cable (MR-E3CBL15-P) (2) Connection diagram...

  • Page 195: Servo Configurations Software

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.4 Servo configurations software The servo configuration software (MRZJW3-SETUP154E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Communication signal Conforms to RS-232C.

  • Page 196: Auxiliary Equipment

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard. 13.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.

  • Page 197

    13. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Type Model (6.56 to 32.8) MR-EKCBL M-L MR-ESCBL M-L (65.6 Encoder cable (6.56 to 32.8) MR-EKCBL M-H MR-ESCBL M-H MR-ENECBL M-H (98.4 to 164)

  • Page 198: No-fuse Breakers, Fuses, Magnetic Contactors

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.2 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. Servo amplifier No-fuse breaker MR-E-10A...

  • Page 199: Relays

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.4 Relays The following relays should be used with the interfaces: Interface Input signals (interface DI-1) signals Relay used for digital output signals (interface DO-1) 13.2.5 Surge absorbers A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent. Insulate the wiring as shown in the diagram.

  • Page 200

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.

  • Page 201

    13. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.

  • Page 202

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Surge suppressor Surge suppressor Rated voltage...

  • Page 203: Outline Drawing

    13. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing Earth plate 2- 5(0.20) hole installation hole (Note)M4 screw (0.24) Note: Screw hole for grounding. Connect it to the earth plate of the control box. Type AERSBAN-DSET (3.94) (3.39) AERSBAN-ESET (2.76) (2.20) 17.5(0.69) 22(0.87) 35(1.38) Accessory fittings...

  • Page 204

    13. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Connection diagram Wind the 3-phase wires by the equal number of times in the same direction, and connect the filter to the power supply side...

  • Page 205: Leakage Current Breaker

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.

  • Page 206

    13. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: Servo amplifier MR-E-40A Use a leakage current breaker generally available. Find the terms of Equation (13.2) from the diagram: Ig1 20 0.1 [mA] 1000...

  • Page 207: Emc Filter

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.8 EMC filter For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Servo amplifier MR-E-10A to MR-E-100A MR-E-200A...

  • Page 208: Servo Motor

    14. SERVO MOTOR 14. SERVO MOTOR 14.1 Compliance with the overseas standards 14.1.1 Compliance with EC directives Use the servo motor compatible with the EN Standard. Unless otherwise specified, the handling, performance, specifications and others of the EN Standard- compatible models are the same as those of the standard models. To comply with the EN Standard, also observe the following items strictly.

  • Page 209: Model Name Make-up

    14. SERVO MOTOR 14.2 Model name make-up (1) Name plate AC SERVO MOTOR HC-SFE152 INPUT 3AC 145V 8.2A OUTPUT 1.5kW IEC60034-1 '99 2000r/min IP65CI.F 9.5kg SER.No. AS958300202X MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model (a) HC-KFE series (low inertia, small capacity) HC-KFE Series name Model...

  • Page 210

    14. SERVO MOTOR (b) HC-SFE series (middle inertia, middle capacity) HC-SFE Series name Shaft type Symbol Shaft Shape Standard None (Straight shaft) With keyway Note: Without key Reduction gear Symbol (Note) Reduction Gear None Without For general industrial machine (flange type) For general industrial machine (leg type)

  • Page 211: Parts Identification

    14. SERVO MOTOR 14.3 Parts identification Lead type Connector type Name/Application Encoder Encoder cable with encoder connector Power cable Power lead (U, V, W) Earth lead Brake lead (for motor with electromagnetic brake) Servo motor shaft Name/Application Encoder Encoder connector Power connector Power supply (U, V, W) Earth...

  • Page 212: Installation

    14. SERVO MOTOR 14.4 Installation Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.

  • Page 213: Environmental Conditions

    14. SERVO MOTOR 14.4.1 Environmental conditions Environment 0 to 40 (non-freezing) Ambient temperature 32 to 104 (non-freezing) Ambient humidity 80%RH or less (non-condensing) 15 to 70 (non-freezing) Storage temperature 5 to 158 (non-freezing) Storage humidity 90%RH or less (non-condensing) Indoors (no direct sunlight) Ambient Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude...

  • Page 214: Load Mounting Precautions

    14. SERVO MOTOR 14.4.3 Load mounting precautions POINT During assembling, the shaft end must not be hammered. Doing so can cause the encoder to fail. (1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end.

  • Page 215: Permissible Load For The Shaft

    14. SERVO MOTOR 14.4.4 Permissible load for the shaft POINT Do not use a rigid coupling as it may apply excessive bending load to the shaft, leading to shaft breakage. (a) Use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible radial load.

  • Page 216

    14. SERVO MOTOR 2) Precision application-compliant Item Permissible Radial Load [lb] Permissible Thrust Load [lb] (b) HC-SFE (2000r/min) series 1) General industrial machine-compliant Gear HC-SFE52(B) Item ratio 1/11 1/17 1/29 1/35 1/43 Permissible 1/59 Radial Load 1/11 1/17 [lb] 1/29 1/35 1/43 1/59...

  • Page 217

    14. SERVO MOTOR 2) Precision application-compliant Gear HC-SFE52(B) Item ratio 1/20 1/29 Permissible 1/45 Radial Load [lb] 1/20 1/29 1/45 1/20 1/29 Permissible 1/45 Thrust Load [lb] 1/20 1/29 1/45 HC-SFE102(B) 1274 2646 2940 2940 3430 8036 1807 1176 1176 1568 1568 2254...

  • Page 218: Protection From Oil And Water

    14. SERVO MOTOR 14.4.5 Protection from oil and water (1) Next, the servo motor is not waterproof (IP44). Do not subject the servo motor to oil and water. Especially for the HC-KFE series, do not subject the shaft-through portion to oil. Servo Motor Series HC-KFE Oil or water...

  • Page 219: Cable

    14. SERVO MOTOR (4) Do not use the servo motor with its cable soaked in oil or water. (Figure on the right) (5) When the servo motor is to be installed with the shaft end at top, provide measures so that it is not exposed to oil and water entering from the machine side, gear box, etc.

  • Page 220: Connectors Used For Servo Motor Wiring

    14. SERVO MOTOR 14.5. Connectors used for servo motor wiring This section gives connector makeups on an operating environment basis. Use the models of the manufacturers given or equivalent. 14.5.1 HC-KFE series Use the connectors indicated in this section or equivalent for connection of the power supply, electromagnetic brake and encoder.

  • Page 221

    14. SERVO MOTOR 3) For connection of brake 1) Plug Cable 2) Connector for cable Connector Servo Motor Supplied for Servo HC-SFE202B MS3102A10SL-4P (b) When using flexible conduits 1) For connection of power supply 1) Plug Conduit 2) Connector for conduit Connector Servo Motor Supplied for...

  • Page 222

    14. SERVO MOTOR 2) For connection of encoder 1) Plug Conduit 2) Connector for conduit Connector Servo Motor Supplied for Servo Motor MS3102A20- HC-SFE52(B) to 202(B) 3) For connection of brake 1) Plug Conduit 2) Connector for conduit Connector Supplied Servo Motor for Servo Motor...

  • Page 223

    14. SERVO MOTOR (2) Waterproof (IP65), EN Standard, UL/C-UL Standard-compliant (a) When using cabtyre cables 1) For connection of power supply 2) Cable clamp 1) Plug Cable Connector Supplied for Servo Motor Servo Motor CE05-2A22- HC-SFE52(B) to 152(B) 23PD-B CE05-2A24- HC-SFE202(B) 10PD-B 2) For connection of encoder...

  • Page 224

    14. SERVO MOTOR (b) When using flexible conduits 1) For connection of power supply 1) Plug Conduit 2) Connector for conduit Connector Servo Motor Supplied for Servo Motor CE05-2A22- HC-SFE52(B) to 152(B) 23PD-B CE05- HC-SFE202(B) 2A24- 10PD-B 2) Connector for conduit Conduit 1) Plug...

  • Page 225

    14. SERVO MOTOR 2) For connection of encoder 1) Plug Conduit 2) Connector for conduit Connector Servo Motor Supplied for Servo Motor MS3102A20- HC-SFE52(B) to 202(B) 3) For connection of brake 1) Plug Conduit 2) Connector for conduit Connector Servo Motor Supplied for Servo Motor MS3102A10S...

  • Page 226: Specifications

    14. SERVO MOTOR 14.6 Specifications 14.6.1 Standard specifications Servo Motor Item Applicable servo MR-E- A amplifier/drive unit Rated output [kW] [N m] (Note 1,11) Rated Continuous duty torque [oz in] (Note 1) Rated speed [r/min] Maximum speed [r/min] Permissible instantaneous speed [r/min] [N m] Maximum torque...

  • Page 227

    14. SERVO MOTOR Servo Motor Item Applicable servo MR-E- A amplifier/drive unit Rated output (Note 1,11) Continuous [N m] Rated duty torque [oz in] (Note 1) Rated speed [r/min] Maximum speed [r/min] Permissible instantaneous speed [r/min] [N m] Maximum torque [oz in] Power rate at continuous rated torque [ 10...

  • Page 228: Torque Characteristics

    14. SERVO MOTOR 14.6.2 Torque characteristics POINT For machines which produce unbalance torque, e.g. vertical lift applications, it is recommended to use the servo motor so that the unbalance torque will be within 70% of the rated torque. (1) HC-KFE series [HC-KFE13] [HC-KFE23] Short-duration...

  • Page 229: Servo Motors With Reduction Gears

    14. SERVO MOTOR 14.6.3 Servo motors with reduction gears The servo motor with reduction gear must be installed in the specified direction. Otherwise , it can leak oil, leading to a fire or fault. CAUTION For the servo motor with reduction gear, transport it in the same status as in the installation method.

  • Page 230

    14. SERVO MOTOR (3) HC-SFE series Reduction Gear Series Mounting method Mounting direction Lubrication (Note2) method Recommended products Output shaft rotating direction With electromagnetic brake Backlash Permissible load inertia moment ratio (when converting into the servo motor shaft) Permissible speed (at servo motor shaft) Note1.

  • Page 231

    14. SERVO MOTOR (b) Recommended lubricants 1) Grease Albania Grease/Shell OIL 2) Lubricating oil Ambient NISSEKI Temperature COSMO OIL MITSUBISHI 10 to 5 COSMO BONNOC GEAR DIAMOND GEAR LUBE 0 to 35 COSMO BONNOC GEAR 100, 150 100, 150 DIAMOND GEAR LUBE 100, 150 30 to 50...

  • Page 232: Servo Motors With Special Shafts

    14. SERVO MOTOR 14.6.4 Servo motors with special shafts The standard shaft of the servo motor is straight without a keyway. Shafts with keyway and D cut are also available. Except for the servo motor with reduction gear. These shafts are not appropriate for applications where the servo motor is started and stopped frequently. Use a friction coupling or the like with such keys since we cannot guarantee such trouble as broken shafts due to loose keys.

  • Page 233: Characteristics

    14. SERVO MOTOR 14.7 Characteristics 14.7.1 Electromagnetic brake characteristics Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. CAUTION Refer to Section 3.9 for details. The electromagnetic brake is designed to hold a load.

  • Page 234

    14. SERVO MOTOR (2) Electromagnetic brake power supply Prepare the following power supply for use with the electromagnetic brake only. Electromagnetic brake Switch 24VDC The surge absorber must be installed across B1-B2. For the selection of the surge absorber, refer to section 13.2.5.

  • Page 235: Vibration Rank

    14. SERVO MOTOR 14.7.2 Vibration rank The vibration rank of the servo motor is V-10 at the rated speed. Measure vibration in the following position with the servo motor installed as shown below. 14.7.3 Machine Accuracies The following table indicates the machine accuracies of the servo motor around the output shaft and mounting.

  • Page 236: Outline Dimension Drawing

    14. SERVO MOTOR 14.8 Outline dimension drawing 14.8.1 HC-KFE series (1) Standard (without electromagnetic brake, without reduction gear) Output Inertia Moment Model J[ 10 HC-KFE13 Motor plate Bottom Bottom Bottom Caution plate TUV plate 25.2 Encoder cable 0.3m With connector 1-172169-9 (AMP) Note: The dimensions without tolerances are reference dimensions.

  • Page 237

    14. SERVO MOTOR Output Inertia Moment Model J[ 10 HC-KFE73 TUV plate Motor plate Bottom Bottom Bottom Caution plate 25.2 Encoder cable 0.3m With connector 1-172169-9 (AMP) Note: The dimensions without tolerances are reference dimensions. (2) With electromagnetic brake Output Braking Force Model HC-KFE13B...

  • Page 238

    14. SERVO MOTOR Variable Dimensions Output Model HC-KFE23B 131.5 HC- KFE43B 156.5 TUV plate Motor plate Bottom Bottom Bottom Caution plate 25.2 Encoder cable 0.3m With connector 1-172169-9 (AMP) Note: The dimensions without tolerances are reference dimensions. Output Braking Force Model HC-KFE73B TUV plate...

  • Page 239: Hc-sfe Series

    14. SERVO MOTOR 14.8.2 HC-SFE series (1) Standard (without electromagnetic brake, without reduction gear) Output Model [kW] HC-SFE52 HC-SFE102 HC-SFE152 Caution plate TUV plate Bottom Bottom Bottom Encoder connector MS3102A20-29P Note: The dimensions without tolerances are reference dimensions. Output Inertia Moment Model [kW] J[ 10...

  • Page 240

    14. SERVO MOTOR (2) With electromagnetic brake Model HC-SFE52B HC-SFE102B HC-SFE152B Caution plate Bottom Bottom Bottom TUV plate Note: The dimensions without tolerances are reference dimensions. Output Braking Force Model [kW] HC-SFE202B Caution plate Bottom Bottom Bottom TUV plate Encoder connector MS3102A20-29P Note: The dimensions without tolerances are reference dimensions.

  • Page 241: Outline Dimension Drawing (in Inches)

    14. SERVO MOTOR 14.9 Outline dimension drawing (in inches) POINT The values in yards/pounds are reference values. 14.9.1 HC-KFE series (1) Standard (without electromagnetic brake, without reduction gear) Output Inertia Moment Model HC-KFE13 1.65 Motor plate Bottom Bottom Bottom 0.268 Caution plate 0.992 TUV plate...

  • Page 242

    14. SERVO MOTOR Output Inertia Moment Model HC-KFE73 3.228 TUV plate Motor plate Bottom Bottom Bottom Caution plate 0.433 0.992 Encoder cable 11.8 in With connector 1-172169-9 (AMP) (2) With electromagnetic brake Output Braking Force Model [oz in] HC-KFE13B 45.316 1.654 Motor plate Bottom...

  • Page 243

    14. SERVO MOTOR Variable Dimensions [in] Output Model HC-KFE23B 5.177 HC-KFE43B 6.161 1.614 2.441 TUV plate Motor plate Bottom Bottom Bottom 0.417 Caution plate 0.992 Encoder cable 11.8 in With connector 1-172169-9 (AMP) Output Braking Force Model [oz in] HC-KFE73B 339.869 3.228 TUV plate...

  • Page 244: Hc-sfe Series

    14. SERVO MOTOR 14.9.2 HC-SFE series (1) Standard (without electromagnetic brake, without reduction gear) Variable Dimensions [in] Output Model [kW] HC-SFE52 5.925 HC-SFE102 6.909 HC-SFE152 7.894 Caution plate TUV plate Bottom Bottom Bottom 0.77 Encoder connector MS3102A20-29P Output Inertia Moment Model [kW] HC-SFE202...

  • Page 245

    14. SERVO MOTOR (2) With electromagnetic brake Output Model HC-SFE52B HC-SFE102B HC-SFE152B Caution plate Bottom Bottom Bottom TUV plate 0.77 Output Braking Force Model [kW] [oz in] HC-SFE202B 6103.49 Caution plate Bottom Bottom Bottom TUV plate Encoder connector MS3102A20-29P Variable dimensions [in] Braking Force [oz in] [kW]...

  • Page 246: Functions And Configuration

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT POINT In this chapter, difference of the operation of MR-E- MR-E- Chapters 1 through 14. 15.1. Functions and configuration 15.1.1 Introduction The analog input MR-E- AG Servo Amplifier is based on the MR-E- of speed control and torque control.

  • Page 247: Function Block Diagram

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.1.2 Function block diagram The function block diagram of this servo is shown below. Servo amplifier (Note3) (Note 2) Power supply 3-phase 200 to 230VAC Single-phase 230VAC (Note 3) Analog (2 channels) Note: 1.

  • Page 248: Servo Amplifier Standard Specifications

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.1.3 Servo amplifier standard specifications Servo Amplifier MR-E- Item Voltage/frequency Permissible voltage fluctuation Permissible frequency fluctuation Power supply capacity System Dynamic brake Protective functions Speed control range Analog speed command input Speed fluctuation ratio Torque limit Torque...

  • Page 249: Model Code Definition

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.1.4 Model code definition MR - E Series Analog input Rated output Symbol Rated output [W] Symbol Rated output [W] 15.1.5 Parts identification (1) MR-E-100AG or less MODE MITSUBISHI CNP2 CNP1 MR-E-40AG or less MR-E-70AG, 100AG 1000...

  • Page 250

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) MR-E-200AG Cooling fan Installation notch (4 places) Name/Application Display The 5-digit, seven-segment LED shows the servo status and alarm number. Operation section Used to perform status display, diagnostic, alarm and parameter setting operations.

  • Page 251: Servo System With Auxiliary Equipment

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.1.6 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked box. (1) MR-E-100AG or less (Note 2) 3-phase 200V Options and auxiliary equipment to 230VAC power No-fuse breaker supply or...

  • Page 252

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) MR-E-200AG Options and auxiliary equipment 3-phase 200V No-fuse breaker to 230VAC power supply Magnetic contactor Servo configuration software No-fuse breaker (NFB) or fuse Magnetic MODE contactor (MC) M I T SUBI S HI Power factor improving...

  • Page 253: Signals And Wiring

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.2. Signals and wiring 15.2.1 Standard connection example (1) Speed control mode (Note 3, 5) Emergency stop Servo-on Forward rotation start Reverse rotation start (Note 5) Forward rotation stroke end Reverse rotation stroke end Upper limit setting Analog speed command 10V/rated speed...

  • Page 254

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

  • Page 255

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) Torque control mode (Note 3, 5) Emergency stop Servo-on Forward rotation selection Reverse rotation selection Use external power supply ( 15VDC). Upper limit setting Analog torque command 8V/max. torque Upper limit setting Analog speed limit 0 to 10V/rated speed Personal...

  • Page 256: Internal Connection Diagram Of Servo Amplifier

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.2.2 Internal connection diagram of servo amplifier The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode. (Note) External power supply 24VDC...

  • Page 257: Connectors And Signal Arrangements

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.2.3 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to the next page for CN1 signal assignment. (1) Signal arrangement Refer to Section 3.3.2 The connector frames are connected with the PE (earth)

  • Page 258

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) CN1 signal assignment The signal assignment of connector changes with the control mode as indicated below; For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters.

  • Page 259: Signal Explanations

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.2.4 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.6.2. In the control mode field of the table S: speed control mode, T: Torque control mode : Denotes that the signal may be used in the initial setting status.

  • Page 260

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Connec- Signal Symbol tor pin Forward rotation start Reverse rotation start Forward rotation selection Reverse rotation selection Speed selection 1 Speed selection 2 Speed selection 3 Functions/Applications Used to start the servo motor in any of the following directions: (Note) Input signals Servo motor starting direction Stop (servo lock)

  • Page 261

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Connec- Signal Symbol tor pin Servo-on CN1-4 Reset Proportion control Emergency stop CN1-8 Gain changing Analog torque CN1-2 limit Analog torque command Analog speed CN1-26 command Analog speed limit Functions/Applications Same as MR-E- A.

  • Page 262

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) Output signals Connec- Signal Symbol tor pin Speed reached Limiting speed Limiting torque Trouble CN1-9 Ready CN1-11 Zero speed CN1-12 Electromagnetic [CN1-12] brake interlock Warning Alarm code ACD0 ACD1 ACD2 Encoder Z-phase CN1-21 pulse...

  • Page 263: Detailed Description Of The Signals

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.2.5 Detailed description of the signals (1) Speed control mode (a) Speed setting 1) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC).

  • Page 264

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 2) Speed selection 1 (SP1), speed selection 2 (SP2), speed selection 3 (SP3) and speed command value By making speed selection 1 (SP1), speed selection 2 (SP2) and speed selection 3 (SP3) usable by setting of parameter No.

  • Page 265

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (c) Torque limit 1) Torque limit and torque By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below.

  • Page 266

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) Torque control mode (a) Torque control 1) Torque command and torque A relationship between the applied voltage of the analog torque command (TC) and the torque by the servo motor is shown below. The maximum torque is generated at 8V.

  • Page 267

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 2) Analog torque command offset Using parameter No. 30, the offset voltage of voltage as shown below. Max. torque (b) Torque limit By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation.

  • Page 268

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 2) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the analog speed limit command (VLA), as indicated below.

  • Page 269

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (3) Speed/torque control change mode Set "0003" in parameter No. 0 to switch to the speed/torque control change mode. (a) Control change (LOP) Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact.

  • Page 270: Startup

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.3 Startup Do not operate the switches with wet hands. You may get an electric shock. WARNING Before starting operation, check the parameters. Some machines may perform unexpected operation. During power-on for some after power-off, do not touch or close a parts (cable etc.) CAUTION to the servo amplifier heat sink, regenerative brake resistor, the servo motor, etc.

  • Page 271

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (4) Servo-on Switch the servo-on in the following procedure: 1) Switch on power supply. 2) Switch on the servo-on (SON). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

  • Page 272

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.3.2 Torque control mode (1) Power on 1) Switch off the servo-on (SON). 2) When power is switched on, the display shows "U (torque command voltage)", and in two second later, shows data. (2) Test operation Using jog operation in the test operation mode, make sure that the servo motor operates.

  • Page 273

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (6) Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. (a) Servo-on (SON) OFF The base circuit is shut off and the servo motor coasts.

  • Page 274

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.4 Parameters POINT Before changing the settings of parameters No. 20 through 84, cancel write protection while referring to Section 5.1.1. For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.

  • Page 275

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT No. Symbol *OP2 Function selection 2 For manufacturer setting *OP4 Function selection 4 For manufacturer setting Zero speed Analog speed command maximum speed Analog speed limit maximum speed Analog torque command maximum output *ENR Encoder output pulses Internal torque limit 1...

  • Page 276

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT No. Symbol *CDP Gain changing selection Gain changing condition Gain changing time constant For manufacturer setting Internal speed command 4 Internal speed limit 4 Internal speed command 5 Internal speed limit 5 Internal speed command 6 Internal speed limit 6 Internal speed command 7...

  • Page 277

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.4.2 Details list Class No. Symbol *STY Control mode, regenerative brake option selection Used to select the control mode and regenerative brake option. POINT Wrong setting may cause the regenerative brake option to burn. If the regenerative brake option selected is not for use with the servo amplifier, parameter error (AL.37) occurs.

  • Page 278

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol Auto tuning Used to selection the response level, etc. for execution of auto tuning. Refer to Chapter 7. For manufacturer setting Don’t change this value by anymeans. Position loop gain 1 Used to set the gain of position loop.

  • Page 279

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol Internal speed command 1 Used to set speed 1 of internal speed commands. Internal speed limit 1 Used to set speed 1 of internal speed limits. Internal speed command 2 Used to set speed 2 of internal speed commands.

  • Page 280

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol Torque command time constant Used to set the constant of a low pass filter in response to the torque command. Torque TQC: Torque command time constant *SNO Station number setting Used to specify the station number for serial communication.

  • Page 281

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol Analog monitor output Used to selection the signal provided to the analog monitor (MO1) analog monitor (MO2) output. (Refer to Section 5.2.2) Setting Status display selection Used to select the status display shown at power-on. Name and function Analog monitor 2 (MO2) Analog monitor 1 (MO1)

  • Page 282

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol *BLK Parameter block Used to select the reference and write ranges of the parameters. Operation can be performed for the parameters marked value 0000 Reference (Initial value) Reference 000A Reference 000B...

  • Page 283

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol *OP2 Function selection 2 Used to select restart after instantaneous power failure, servo lock at a stop in speed control mode, and slight vibration suppression control. Encoder cable communication system selection For manufacturer setting Don’t change this value by anymeans.

  • Page 284

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol *OP4 Function selection 4 Used to select stop processing at forward rotation stroke end (LSP) reverse rotation stroke end (LSN) off, choose TLC/VLC output and choose VC/VLA voltage averaging. For manufacturer setting Don’t change this value by anymeans.

  • Page 285

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol *ENR Encoder output pulses Used to set the encoder pulses (A-phase or B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No.

  • Page 286

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol Analog torque command offset Used to set the offset voltage of the analog torque command (TC). Analog torque limit offset Used to set the offset voltage of the analog torque limit (TLA). Analog monitor 1 offset Used to set the offset voltage of the analog monitor 1 (MO1).

  • Page 287

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol *DIA Input signal automatic ON selection Used to set automatic servo-on (SON) forward rotation stroke end (LSP) reverse rotation stroke end (LSN). Reverse rotation stroke end (LSN) input selection *DI1 Input signal selection 1 Used to assign the control mode changing signal input pins and to set...

  • Page 288

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol *DI2 Input signal selection 2 (CN1-4) Allows any input signal to be assigned to CN1-pin 4. Note that the setting digit and assigned signal differ according to the control mode.

  • Page 289

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol *DI3 Input signal selection 3 (CN1-3) Allows any input signal to be assigned to CN1-pin 3. The assignable signals and setting method are the same as in input signal selection 2 (parameter No.

  • Page 290

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol Input signal selection 6 (CN1-7) *DI6 Allows any input signal to be assigned to CN1-pin 7. The assignable signals and setting method are the same as in input signal selection 2 (parameter No.

  • Page 291

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol *DO1 Output signal selection 1 Used to select the connector pins to output the alarm code and warning (WNG). Name and function Setting of alarm code output Connector pins Set value CN1-11 CN1-10...

  • Page 292

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol For manufacturer setting Don’t change this value by any means. *OP6 Function selection 6 Used to select the operation to be performed when the reset (RES) switches on. For manufacturer setting Don’t change this value by any means.

  • Page 293

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol Machine resonance suppression filter 1 Used to selection the machine resonance suppression filter. (Refer to Section 8.2.) Setting value Machine resonance suppression filter 2 Used to set the machine resonance suppression filter. Name and function Notch frequency selection Set "00"...

  • Page 294

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol Low-pass filter/adaptive vibration suppression control Used to selection the low-pass filter and adaptive vibration suppression control. (Refer to Chapter 8.) GD2B Ratio of load inertia moment to servo motor inertia moment 2 Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid.

  • Page 295

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol *CDP Gain changing selection Used to select the gain changing condition. (Refer to Section 8.5.) Gain changing condition Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No.

  • Page 296: Display And Operation

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Class No. Symbol Internal torque limit 2 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%]. When 0 is set, torque is not produced. When torque is output in analog monitor output, this set value is the maximum output voltage ( 8V).

  • Page 297

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Status display Diagnosis Cumulative feedback Sequence pulses [pulse] (Note) Motor speed External I/O signal display [r/min] Output signal forced output Test operation Jog feed Command pulse frequency [kpps] Speed command voltage Test operation Speed limit voltage[mV] Motor-less operation...

  • Page 298

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.5.2 Status display (1) Status display list The following table lists the servo statuses that may be shown: Name Symbol Cumulative feedback pulses Servo motor speed Analog speed command voltage Analog speed limit voltage Analog torque command voltage...

  • Page 299

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) Changing the status display screen The status display item of the servo amplifier display shown at power-on can be changed by changing the parameter No. 18 settings. The item displayed in the initial status changes with the control mode as follows: Control mode Status display at power-on Speed...

  • Page 300: Diagnostic Mode

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.5.3 Diagnostic mode Name Sequence Refer to section 15.5.4. External I/O signal display Output signal (DO) forced output Jog feed Test operation Motorless mode operation Machine analyzer operation Software version low Software version high Automatic VC offset Display...

  • Page 301

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Name Motor series Motor type Encoder Display Press the "SET" button to show the motor series ID of the servo motor currently connected. Press the "SET" button to show the motor type ID of the servo motor currently connected.

  • Page 302: External I/o Signal Display

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.5.4 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. (2) Display definition Input signals Always lit...

  • Page 303

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (3) Default signal indications (a) Speed control mode Input signals Output signals (b) Torque control mode Input signals Output signals EMG (CN 1-8) Emergency stop LSN (CN 1-7) Reverse rotation stroke end LSP (CN 1-6) Forward rotation stroke end ST2 (CN 1-5) Reverse rotation start ST1 (CN 1-3) Forward rotation start...

  • Page 304: Troubleshooting

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.6. Troubleshooting 15.6.1 Trouble at start-up The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. (1) Speed control mode Start-up sequence Power on (Note) LED is not lit.

  • Page 305

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) Torque control mode Start-up sequence Power on (Note) LED is not lit. LED flickers. Alarm occurs. Switch on servo-on Alarm occurs. (SON). Servo motor shaft is free. Switch on forward Servo motor does rotation start (RS1) not rotate.

  • Page 306: Alarms And Warning List

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.6.2 Alarms and warning list POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (SON) signal at occurrence of an alarm. When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 10.2.2 or 10.2.3 and take the appropriate action.

  • Page 307

    15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT MEMO 15 - 62...

  • Page 308

    REVISIONS Print data *Manual number Sep.,2002 SH(NA)030031-A First edition Mar.,2003 SH(NA)030031-B "Note 2" in (1) Environmental Condition is deleted from Safety Precautions 4. *The manual number is given on the bottom left of the back cover. The "concerning sale" item is deleted. The "Compliance with EU Directives (2)"...

  • Page 309

    Print data *Manual number Revision Mar.,2003 SH(NA)030031-B Chapter 14: Point is deleted. Section 14.2: Rating plate is changed. Section 14.7.3: Added. Chapter 15: Added.

  • Page 310

    MODEL MODEL CODE HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030031-B (0303) MEE Printed in Japan Specifications subject to change without notice.

This manual also for:

Mr-e-*a, Mr-e-*ag

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