Page 1 General-Purpose AC Servo SSCNET /H Interface AC Servo MODEL MR-JE-_B SERVO AMPLIFIER INSTRUCTION MANUAL...
Page 2: Safety Instructions
Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo amplifier.
Page 5 (2) Wiring CAUTION Before removing the CNP1 connector of MR-JE-40B to MR-JE-100B, disconnect the lead wires of the regenerative resistor from the CNP1 connector. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation.
Page 6 CAUTION Never adjust or change the parameter values extremely as it will make operation unstable. Do not get close to moving parts during the servo-on status. (4) Usage CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition.
Page 7 CAUTION Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch. Contacts must be opened when ALM Contacts must be opened (Malfunction) or MBR (Electromagnetic with the emergency stop switch. brake interlock) turns off. Servo motor 24 V DC Electromagnetic brake To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,...
Page 8 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
Page 9 MEMO A - 8...
Page 10: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-12 1.1 Summary ............................1- 1 1.2 Function block diagram ........................1- 2 1.3 Servo amplifier standard specifications .................... 1- 4 1.4 Combinations of servo amplifiers, servo motors, and controllers ............. 1- 5 1.4.1 Combinations of servo amplifiers and servo motors ..............
Page 11 3.8 Interfaces ............................3-33 3.8.1 Internal connection diagram ...................... 3-33 3.8.2 Detailed explanation of interfaces ..................... 3-34 3.8.3 Source I/O interfaces ........................ 3-35 3.9 SSCNET III cable connection ......................3-36 3.10 Servo motor with an electromagnetic brake .................. 3-38 3.10.1 Safety precautions ........................3-38 3.10.2 Timing chart ..........................
Page 12 6.2.3 Caution for one-touch tuning ..................... 6-18 6.3 Auto tuning ............................6-19 6.3.1 Auto tuning mode ........................6-19 6.3.2 Auto tuning mode basis ......................6-20 6.3.3 Adjustment procedure by auto tuning ..................6-21 6.3.4 Response level setting in auto tuning mode ................6-22 6.4 Manual mode ...........................
Page 13 App. 3 Symbol for the new EU Battery Directive ................App.- 4 App. 4 Compliance with global standards ..................App.- 5 App. 5 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service ..........................App.-15 App. 6 Low-voltage directive ......................App.-16...
Page 14 App. 7 When turning on or off the input power supply with DC power supply ........ App.-17 App. 8 When using the hot line forced stop function in combination with MR-J4-_B servo amplifier and MR-J4W-_B servo amplifier................App.-18 App. 9 Optional data monitor function ..................... App.-19 App.
Page 15 MEMO...
Page 16: Summary
"MR-J4(W)-B mode selection", and then connect the servo amplifier through SSCNETIII/H. The Mitsubishi Electric general-purpose AC servo MELSERVO-JE series have limited functions with keeping high performance based on MELSERVO-J4 series. The MR-JE-_B servo amplifier is connected to controllers, including a servo system controller, on the high- speed synchronous network SSCNET III/H.
Page 17: Function Block Diagram
Note 1. The built-in regenerative resistor is not provided for MR-JE-10B and MR-JE-20B. 2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
Page 18: Servo Amplifier
1. FUNCTIONS AND CONFIGURATION (2) MR-JE-200B or more Regenerative option Servo motor Diode Dynamic stack Relay brake circuit MCCB (Note) Current Power detector Regene- supply rative CHARGE lamp Cooling fan Electro- magnetic 24 V DC brake Control circuit Base Voltage Current Overcurrent power...
Page 19: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications Model: MR-JE- 100B 200B 300B Rated voltage 3-phase 170 V AC Output Rated current 11.0 11.0 3-phase 3-phase or 1-phase 200 200 V AC 3-phase or 1-phase 200 V AC to 240 V AC, 50 Voltage/frequency V AC to 240 V AC, 50 to 240 V...
Page 20: Combinations Of Servo Amplifiers, Servo Motors, And Controllers
1. FUNCTIONS AND CONFIGURATION 1.4 Combinations of servo amplifiers, servo motors, and controllers 1.4.1 Combinations of servo amplifiers and servo motors Servo amplifier Servo motor MR-JE-10B HG-KN13_ MR-JE-20B HG-KN23_ MR-JE-40B HG-KN43_ MR-JE-70B HG-KN73_ HG-SN52_ MR-JE-100B HG-SN102_ MR-JE-200B HG-SN152_ HG-SN202_ MR-JE-300B HG-SN302_ 1.4.2 Compatible controller...
Page 21: Function List
1. FUNCTIONS AND CONFIGURATION 1.5 Function list The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field. Detailed Function Description explanation This function realizes a high response and stable control following the ideal model. The two-degrees-of-freedom model adaptive control enables you to set a response to Model adaptive control the command and response to the disturbance separately.
Page 22 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph" button. However, the drive recorder will not operate on the following conditions.
Page 23: Model Designation
1.6 Model designation (1) Rating plate The following shows an example of the rating plate for explanation of each item. Serial number AC SERVO SER. A4Y001001 Model MR-JE-10B Capacity POWER : 100W Applicable power supply INPUT : 3AC/200-240V 0.9A/1.5A 50/60Hz...
Page 24: Structure
1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-JE-100B or less Detailed Name/Application explanation Display The 3-digit, 7-segment LED shows the servo status and the Section alarm number. Axis selection rotary switch (SW1) Used to set the axis number of the servo amplifier. USB communication connector (CN5) Section 11.4...
Page 25 1. FUNCTIONS AND CONFIGURATION (2) MR-JE-200B or more Detailed Name/Application explanation Display The 3-digit, 7-segment LED shows the servo status and the Section alarm number. Axis selection rotary switch (SW1) Used to set the axis number of the servo amplifier. USB communication connector (CN5) Section 11.4...
Page 26: Configuration Including Peripheral Equipment
1. FUNCTIONS AND CONFIGURATION 1.8 Configuration including peripheral equipment Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo CAUTION amplifier may cause a malfunction. POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
Page 27 1. FUNCTIONS AND CONFIGURATION (2) MR-JE-200B or more The diagram shows MR-JE-200B. R S T (Note 1) Power supply Molded-case circuit breaker (MCCB) Personal computer MR Configurator2 (Note 2) Magnetic contactor (MC) Power factor improving AC reactor (FR-HAL) Junction terminal block Line noise filter (FR-BSF01)
Page 28 2. INSTALLATION 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. Stacking in excess of the specified number of product packages is not allowed. Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop. Install the equipment on incombustible material.
Page 29: Installation Direction And Clearances
2. INSTALLATION 2.1 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction. CAUTION Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction. MR-JE-40B to MR-JE-100B have a regenerative resistor on their back face.
Page 30: Keep Out Foreign Materials
2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo amplifier. Refer to section 1.3 for availability of close mounting. Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.
Page 31: Encoder Cable Stress
2. INSTALLATION 2.3 Encoder cable stress (1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part.
Page 32 2. INSTALLATION (3) Precautions for migrating plasticizer added materials Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE), and fluorine resin contain non- migrating plasticizer and they do not affect the optical characteristic of the SSCNET III cable. However, some wire sheaths and cable ties that contain migrating plasticizer (phthalate ester) may affect MR- J3BUS_M and MR-J3BUS_M-A cables (plastic).
Page 33: Inspection Items
2. INSTALLATION (7) Twisting If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of the optical fiber may occur. (8) Disposal When the optical cable (cord) used for an SSCNET III cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated.
Page 34: Parts Having Service Life
2. INSTALLATION 2.6 Parts having service life Service life of the following parts is listed below. However, the service life varies depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life.
Page 35: Restrictions When Using This Product At Altitude Exceeding 1000 M And Up To 2000 M Above Sea Level
2. INSTALLATION 2.7 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level (1) Effective load ratio and regenerative load ratio As heat dissipation effects decrease in proportion to the decrease in air density, use the product within the effective load ratio and regenerative load ratio shown in the following figure.
Page 36 3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 37: Input Power Supply Circuit
3. SIGNALS AND WIRING Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. CAUTION Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction. 3.1 Input power supply circuit Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts...
Page 38 3. SIGNALS AND WIRING (1) Using 3-phase 200 V AC to 240 V AC power supply for MR-JE-10B to MR-JE-100B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amplifiers, the hot line forced stop function is disabled at factory setting.
Page 39 3. SIGNALS AND WIRING Note 1. MR-JE-40B to MR-JE-100B have a built-in regenerative resistor. (factory-wired) When using the regenerative option, refer to section 11.2. 2. For the encoder cable, use of the option cable is recommended. For cable selection, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual".
Page 40 3. SIGNALS AND WIRING (2) Using 1-phase 200 V AC to 240 V AC power supply for MR-JE-10B to MR-JE-100B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amplifiers, the hot line forced stop function is disabled at factory setting.
Page 41 3. SIGNALS AND WIRING Note 1. MR-JE-40B to MR-JE-100B have a built-in regenerative resistor. (factory-wired) When using the regenerative option, refer to section 11.2. 2. For the encoder cable, use of the option cable is recommended. For cable selection, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual".
Page 42 3. SIGNALS AND WIRING (3) Using 3-phase 200 V AC to 240 V AC power supply for MR-JE-200B or MR-JE-300B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amplifiers, the hot line forced stop function is disabled at factory setting.
Page 43 3. SIGNALS AND WIRING Note 1. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2. 2. For the encoder cable, use of the option cable is recommended. For cable selection, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual".
Page 44 3. SIGNALS AND WIRING (4) Using 1-phase 200 V AC to 240 V AC power supply for MR-JE-200B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amplifiers, the hot line forced stop function is disabled at factory setting.
Page 45 3. SIGNALS AND WIRING Note 1. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2. 2. For the encoder cable, use of the option cable is recommended. For cable selection, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual".
Page 46: I/O Signal Connection Example
3. SIGNALS AND WIRING 3.2 I/O signal connection example POINT EM2 has the same function as EM1 in the torque control mode. 3.2.1 For sink I/O interface Servo amplifier 10 m or less 10 m or less (Note 10) (Note 12) (Note 3, 4) 24 V DC Power supply...
Page 47 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked with ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 48: For Source I/O Interface
3. SIGNALS AND WIRING 3.2.2 For source I/O interface POINT For notes, refer to section 3.2.1. Servo amplifier 10 m or less 10 m or less (Note 10) (Note 12) 24 V DC (Note 3, 4) Power supply Forced stop 2 DOCOM (Note 2) (Note...
Page 49: Explanation Of Power Supply System
Description (application) Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC of MR-JE-10B to MR-JE-100B, connect the power supply to L1 and L3. Leave L2 open. For 1-phase 200 V AC to 240 V AC of MR-JE-200B, connect the power supply to L1 and L2. Leave L3 open.
Page 50: Power-On Sequence
3. SIGNALS AND WIRING 3.3.2 Power-on sequence POINT The output signal, etc. may be unstable at power-on. (1) Power-on procedure (a) Always use a magnetic contactor for the power supply wiring (L1/L2/L3) as shown in above section 3.1. Configure the power supply circuit that turns off the magnetic contactor after an alarm occurs on the controller side.
Page 51: Wiring Cnp1 And Cnp2
Insert only one wire or ferrule to each wire insertion hole. For the wiring to CNP1 and CNP2, use servo amplifier power connectors packed with the amplifier or optional connectors (refer to section 11.1.1). (1) Connector (a) MR-JE-10B to MR-JE-100B Servo amplifier CNP1 Table 3.1 Connector and applicable wire...
Page 52 Ferrule model (Phoenix Contact) Crimp terminal Servo amplifier Wire size (Phoenix Contact) For one For two AWG 16 AI1.5-10BK AI-TWIN2 × 1.5-10BK MR-JE-10B to MR-JE-100B AWG 14 AI2.5-10BU AWG 16 AI1.5-10BK AI-TWIN2 × 1.5-10BK CRIMPFOX-ZA3 MR-JE-200B to AWG 14 AI2.5-10BU AI-TWIN2 ×...
Page 53: Connectors And Pin Assignment
3. SIGNALS AND WIRING 3.4 Connectors and pin assignment POINT The pin assignment of the connectors is as viewed from the cable connector wiring section. For the CN3 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Screw Cable Screw...
Page 54: Signal (Device) Explanations
3. SIGNALS AND WIRING 3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2. The pin numbers in the connector pin number column are those in the initial status. 3.5.1 Input device (1) Input device pin The following shows the input device pins and parameters for setting devices.
Page 55: Output Device
3. SIGNALS AND WIRING 3.5.2 Output device (1) Output device pin The following shows the output device pins and parameters for assigning devices. Connector pin No. Parameter Initial device I/O division CN3-13 [Pr. PD07] Not assigned CN3-9 (Note) [Pr. PD08] (always off) DO-1 Not assigned...
Page 56: Power Supply
3. SIGNALS AND WIRING Device Symbol Function and application Limiting torque When the torque reaches the torque limit value during torque generation, TLC will turn on. When the servo is off, TLC will be turned off. This device cannot be used in the torque control mode. Warning When a warning has occurred, WNG turns on.
Page 57: Forced Stop Deceleration Function
3. SIGNALS AND WIRING 3.6 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration cannot be guaranteed. (Refer to chapter 8.) When SSCNET III/H communication shut-off occurs, forced stop deceleration will operate.
Page 58: Base Circuit Shut-Off Delay Time Function
3. SIGNALS AND WIRING (2) Timing chart When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC24 Forced stop deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed] after completion of the deceleration command, base power is cut and the dynamic brake activates.
Page 59: Vertical Axis Freefall Prevention Function
3. SIGNALS AND WIRING (2) Adjustment While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay time in [Pr. PC02], and set the value to approximately 1.5 times of the smallest delay time in which the servo motor shaft does not freefall.
Page 60: Alarm Occurrence Timing Chart
3. SIGNALS AND WIRING 3.7 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. POINT In the torque control mode, the forced stop deceleration function cannot be used.
Page 61: When You Do Not Use The Forced Stop Deceleration Function
3. SIGNALS AND WIRING (2) When the forced stop deceleration function is not enabled Alarm occurrence Braking by the dynamic brake Dynamic brake + Braking by the electromagnetic brake Servo motor speed 0 r/min Base circuit (Energy supply to the servo motor) Servo amplifier No alarm Alarm No.
Page 62: Hot Line Forced Stop Function
3. SIGNALS AND WIRING 3.7.3 Hot line forced stop function POINT When the power supply of the servo amplifier is shut off during deceleration to a stop by a hot line forced stop signal, the servo motor will be stopped with the dynamic brake.
Page 63 3. SIGNALS AND WIRING (d) When the power supply of a servo amplifier in which an alarm occurred is shut off, the servo motors connected to the subsequent servo amplifiers decelerate to a stop, and the servo amplifiers will be in a non-connection state with the controller.
Page 64 3. SIGNALS AND WIRING 2) If an alarm that stops the servo motor with the dynamic brake occurs in the second axis servo amplifier, and then the power supply is off To clear [AL. E7.1 Controller forced stop input warning], give the error reset command from the controller.
Page 65 3. SIGNALS AND WIRING 3) When the power of the second axis servo amplifier is turned off Hot line alarm signal (from Signal the servo amplifier whose No signal power is turned off) Hot line forced stop signal (from the controller) Input power supply Servo amplifier...
Page 66 3. SIGNALS AND WIRING 4) When power supplies of all servo amplifiers are turned off Hot line alarm signal (from Signal the servo amplifier whose No signal power is turned off) Hot line forced stop signal (from the controller) Power on duration Input power supply Servo amplifier...
Page 67 3. SIGNALS AND WIRING 2) If an alarm that stops the servo motor with the dynamic brake occurs in the second axis servo amplifier, and then the power supply is off Alarm Power off of the servo amplifier occurrence in which an alarm occurred Hot line alarm signal (from Signal the servo amplifier in which...
Page 68: Interfaces
3. SIGNALS AND WIRING 3.8 Interfaces 3.8.1 Internal connection diagram Servo amplifier (Note 2) Forced stop 2 Approximately 24 V DC 6.2 kΩ DOCOM (Note 3) (Note 1) (Note 3) (Note 3) Approximately (Note 1) 6.2 kΩ (Note 3) (Note 3) DICOM (Note 2) 24 V DC...
Page 69: Detailed Explanation Of Interfaces
3. SIGNALS AND WIRING 3.8.2 Detailed explanation of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external device. (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is the input terminal.
Page 70: Source I/O Interfaces
3. SIGNALS AND WIRING 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
Page 71: Sscnet Iii Cable Connection
3. SIGNALS AND WIRING 3.9 SSCNET III cable connection POINT Do not look directly at the light generated from the CN1A/CN1B connector of the servo amplifier or the end of the SSCNET III cable. The light can be a discomfort when it enters the eye.
Page 72 3. SIGNALS AND WIRING (a) Connection 1) For an SSCNET III cable in the shipping status, the tube for protecting the optical cord end is put on the end of connector. Remove this tube. 2) Remove the CN1A and CN1B connector caps of the servo amplifier. 3) While holding a tab of the SSCNET III cable connector, make sure to insert it into the CN1A and CN1B connectors of the servo amplifier until you hear the click.
Page 73: Servo Motor With An Electromagnetic Brake
3. SIGNALS AND WIRING 3.10 Servo motor with an electromagnetic brake 3.10.1 Safety precautions Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch. Contacts must be opened when ALM Contacts must be opened (Malfunction) or MBR (Electromagnetic with the emergency stop switch.
Page 74 3. SIGNALS AND WIRING (1) Connection diagram Servo amplifier (Note 2) Servo motor 24 V DC (Note 3) (Note 1) DOCOM 24 V DC Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch. 2.
Page 75: Timing Chart
3. SIGNALS AND WIRING 3.10.2 Timing chart (1) When you use the forced stop deceleration function POINT To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04]. (a) Servo-on command (from controller) on/off When the servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo motor will coast.
Page 76 3. SIGNALS AND WIRING (b) Off/on of the forced stop command (from controller) or EM2 (Forced stop 2) POINT In the torque control mode, the forced stop deceleration function cannot be used. (Note 2) Model speed command 0 and equal to or less than zero speed Servo motor speed 0 r/min...
Page 77 3. SIGNALS AND WIRING (e) Ready-off command from controller Dynamic brake Dynamic brake + Electromagnetic brake Approx. 10 ms Servo motor speed Electromagnetic brake 0 r/min Base circuit (Electromagnetic (Note) brake interlock) Operation delay time of the electromagnetic brake Ready-on command (from controller) Note.
Page 78: Grounding
3. SIGNALS AND WIRING 3.11 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal (marked with ) of the servo amplifier to the protective earth (PE) of the cabinet. The servo amplifier switches the power transistor on-off to supply power to the servo motor.
Page 79 3. SIGNALS AND WIRING MEMO 3 - 44...
Page 80 4. STARTUP 4. STARTUP When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. WARNING Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.
Page 81: Switching Power On For The First Time
4. STARTUP 4.1 Switching power on for the first time When switching power on for the first time, follow this section to make a startup. 4.1.1 Startup procedure Check whether the servo amplifier and servo motor are wired correctly using Wiring check visual inspection, the DO forced output function (section 4.5.1), etc.
Page 82: Wiring Check
4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the power supply, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1/L2/L3) of the servo amplifier should satisfy the defined specifications.
Page 83: Surrounding Environment
4. STARTUP (2) I/O signal wiring (a) The I/O signals should be connected correctly. Use the DO forced output to forcibly turn on or off the pins of the CN3 connector. You can use the function to check the wiring. At this time, check the wiring in the servo-off status. Refer to section 3.2 for details of I/O signal connection.
Page 84: Startup
4. STARTUP 4.2 Startup Connect the servo motor with a machine after confirming that the servo motor operates properly alone. (1) Power on When the power supply is turned on, "b01" (for the first axis) appears on the servo amplifier display. When you use the absolute position detection system, first power-on results in [AL.
Page 85: Switch Setting And Display Of The Servo Amplifier
4. STARTUP (5) Stop Turn off the servo-on command after the servo motor has stopped, and then switch the power off. If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Page 86 4. STARTUP The control axis No. can be set in the range of 1 to 16 with the axis selection rotary switch. If the same numbers are set to different control axes in a single communication system, the system will not operate properly.
Page 87: Scrolling Display
4. STARTUP 4.3.2 Scrolling display (1) Normal display When there is no alarm, the axis No. and blank are displayed in rotation. After 1.6 s Status Blank After 0.2 s Status Axis No. (1 digit) (2 digits) "b" : Indicates ready-off and servo-off status. "C"...
Page 88: Status Display Of An Axis
4. STARTUP 4.3.3 Status display of an axis (1) Display sequence Servo amplifier power on System check in progress Waiting for servo system controller power to switch on (SSCNET III/H communication) Servo system controller power on (SSCNET III/H communication begins) Initial data communication with the servo system controller (initialization communication)
Page 89 4. STARTUP (2) Indication list POINT Refer to section 1.6 of "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for troubleshooting at startup. Indication Status Description Initializing System check in progress The servo amplifier power was switched on when the servo system controller power was off.
Page 90: Test Operation
4. STARTUP 4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2 for how to power on and off the servo amplifier. POINT If necessary, verify controller programs by using motor-less operation. Refer to section 4.5.2 for the motor-less operation.
Page 91: Test Operation Mode In Mr Configurator2
4. STARTUP 4.5.1 Test operation mode in MR Configurator2 POINT When "_ _ 1 _" is set in [Pr. PC05] to enable the test operation mode, the SSCNET III/H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked. When setting [Pr.
Page 92 4. STARTUP (b) Positioning operation Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of MR Configurator2.
Page 93: Motor-Less Operation In The Controller
4. STARTUP (2) Operation procedure 1) Set "_ _ 1 _" in [Pr. PC05] and cycle the power. When initialization is completed, the decimal point on the first digit will flicker. After 1.6 s Blinking After 0.2 s When an alarm or warning also occurs during the test operation, the decimal point on the first digit will flicker as follows.
Page 94 4. STARTUP (b) Alarms The following alarms and warnings do not occur. However, the other alarms and warnings occur as when the servo motor is connected. [AL. 16 Encoder initial communication error 1] [AL. 1E Encoder initial communication error 2] [AL.
Page 95 4. STARTUP MEMO 4 - 16...
Page 96: Parameter List
5. PARAMETERS 5. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier. Changing the values of the parameters for manufacturer setting CAUTION Setting a value out of the range...
Page 97: Basic Setting Parameters ([Pr. Pa_ _ ])
5. PARAMETERS 5.1.1 Basic setting parameters ([Pr. PA_ _ ]) Initial Symbol Name Unit value PA01 For manufacturer setting 1000h PA02 **REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h PA04 *AOP1 Function selection A-1 2000h PA05 For manufacturer setting 10000 PA06 PA07...
Page 98: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])
5. PARAMETERS 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Initial Symbol Name Unit value PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h suppression control II) PB03 TFBGN Torque feedback loop gain 18000 [rad/s] PB04...
Page 99: Extension Setting Parameters ([Pr. Pc_ _ ])
5. PARAMETERS Initial Symbol Name Unit value PB46 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h PB48 Machine resonance suppression filter 4 4500 [Hz] PB49 NHQ4 Notch shape selection 4 0000h PB50 Machine resonance suppression filter 5 4500 [Hz] PB51...
Page 100 5. PARAMETERS Initial Symbol Name Unit value PC21 *BPS Alarm history clear 0000h PC22 For manufacturer setting PC23 0000h PC24 RSBR Forced stop deceleration time constant [ms] PC25 For manufacturer setting PC26 0000h PC27 0000h PC28 0000h PC29 *COPB Function selection C-B 0000h PC30 For manufacturer setting...
Page 101: I/O Setting Parameters ([Pr. Pd_ _ ])
5. PARAMETERS 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) Initial Symbol Name Unit value PD01 For manufacturer setting 0000h PD02 *DIA2 Input signal automatic on selection 2 0000h PD03 *DI1 Input device selection 1 0000h PD04 *DI2 Input device selection 2 0000h PD05 *DI3...
Page 102: Extension Setting 2 Parameters ([Pr. Pe_ _ ])
5. PARAMETERS 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Initial Symbol Name Unit value PE01 For manufacturer setting 0000h PE02 0000h PE03 0000h PE04 PE05 PE06 PE07 PE08 PE09 0000h PE10 0000h PE11 0000h PE12 0000h PE13 0000h PE14 0111h PE15...
Page 103: Extension Setting 3 Parameters ([Pr. Pf_ _ ])
5. PARAMETERS Initial Symbol Name Unit value PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0.00 PE62 0.00 PE63 0.00 PE64 0.00 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Initial Symbol Name...
Page 104 5. PARAMETERS Initial Symbol Name Unit value PF31 FRIC Machine diagnosis function - Friction judgment speed [r/min] PF32 For manufacturer setting PF33 0000h PF34 0000h PF35 0000h PF36 0000h PF37 0000h PF38 0000h PF39 0000h PF40 0000h PF41 0000h PF42 0000h PF43 0000h...
Page 105: Detailed List Of Parameters
5. PARAMETERS 5.2 Detailed list of parameters POINT Set a value in each "x" in the "Setting digit" columns. 5.2.1 Basic setting parameters ([Pr. PA_ _ ]) Initial Setting Symbol Name and function value range [unit] PA02 **REG Regenerative option Refer to the "Name and Select a regenerative option.
Page 106 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA04 *AOP1 Function selection A-1 Refer to the "Name and Select the forced stop input and forced stop deceleration function. function" column. Setting Initial Explanation digit value _ _ _ x For manufacturer setting _ _ x _ _ x _ _...
Page 107 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA08 Auto tuning mode Refer to the "Name and Select the gain adjustment mode. function" column. Setting Initial Explanation digit value _ _ _ x Gain adjustment mode selection 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2...
Page 108 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA09 Auto tuning response 1 to 40 Set the auto tuning response. Machine characteristic Machine characteristic Guideline for Guideline for Setting Setting machine machine value value Response Response resonance resonance frequency [Hz] frequency [Hz]...
Page 109 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA19 *BLK Parameter writing inhibit 00AAh Refer to Select a reference range and writing range of parameters. "Name Refer to table 5.3 for settings. function" Table 5.3 [Pr. PA19] setting value and reading/writing range column.
Page 110 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA20 *TDS Tough drive setting Refer to the "Name and Alarms may not be avoided with the tough drive function depending on the situations of the function" column. power supply and load fluctuation. You can assign MTTR (During tough drive) to the CN3-13 pin with [Pr.
Page 111 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA23 DRAT Drive recorder arbitrary alarm trigger setting Refer to the "Name and Setting Initial function" column. Explanation digit value _ _ x x Alarm detail No. setting Set the digits when you execute the trigger with an arbitrary alarm detail No.
Page 112 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PA25 OTHOV One-touch tuning - Overshoot permissible level 0 to 100 Set a permissible value of the overshoot amount for one-touch tuning as a percentage of the in-position range. However, setting "0"...
Page 113: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])
5. PARAMETERS 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Initial Setting Symbol Name and function value range [unit] PB01 FILT Adaptive tuning mode (adaptive filter II) Refer to the "Name and Set the adaptive tuning. function" column. Setting Initial Explanation digit value...
Page 114 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB06 Load to motor inertia ratio 7.00 0.00 to 300.00 Set the load to motor inertia ratio. [Multiplier] Setting a value considerably different from the actual load moment of inertia may cause an unexpected operation such as an overshoot.
Page 115 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB11 Speed differential compensation 0 to 1000 Set the differential compensation. To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching control selection" in [Pr. PB24]. PB12 Overshoot amount compensation 0 to 100...
Page 116 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB17 Shaft resonance suppression filter Refer to the "Name and Set the shaft resonance suppression filter. function" column. Use this parameter to suppress a low-frequency machine vibration. When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection" in [Pr.
Page 117 5. PARAMETERS Initial Setting value Symbol Name and function range [Unit] PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 Set the vibration frequency for the vibration suppression control 1 to suppress low-frequency [Hz] machine vibration. 300.0 When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)"...
Page 118 5. PARAMETERS Initial Setting value Symbol Name and function range [Unit] PB24 *MVS Slight vibration suppression control Refer to the "Name and Select the slight vibration suppression control and PI-PID switching control. function" column. Setting Initial Explanation digit value _ _ _ x Slight vibration suppression control selection 0: Disabled 1: Enabled...
Page 119 5. PARAMETERS Initial Setting value Symbol Name and function range [Unit] PB26 *CDP Gain switching function Refer to the "Name and Select the gain switching condition. function" column. Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
Page 120 5. PARAMETERS Initial Setting value Symbol Name and function range [Unit] PB32 VICB Speed integral compensation after gain switching 0.0 to [ms] 5000.0 Set the speed integral compensation for when the gain switching is enabled. When you set a value smaller than 0.1 ms, the value will be the same as the value set in [Pr. PB10].
Page 121 5. PARAMETERS Initial Setting value Symbol Name and function range [Unit] PB45 CNHF Command notch filter Refer to the "Name and Set the command notch filter. function" column. Setting Initial Explanation digit value _ _ x x Command notch filter setting frequency selection Refer to table 5.5 for the relation of setting values to frequency.
Page 122 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB46 Machine resonance suppression filter 3 4500 10 to [Hz] 4500 Set the notch frequency of the machine resonance suppression filter 3. To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection"...
Page 123 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB51 NHQ5 Notch shape selection 5 Refer to the "Name and Set forms of the machine resonance suppression filter 5. function" column. When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine resonance suppression filter 5 cannot be used.
Page 124 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 to [Hz] 300.0 Set the vibration frequency for the vibration suppression control 2 for when the gain switching is enabled.
Page 125: Extension Setting Parameters ([Pr. Pc_ _ ])
5. PARAMETERS 5.2.3 Extension setting parameters ([Pr. PC_ _ ]) Initial Setting Symbol Name and function value range [unit] PC01 Error excessive alarm level 0 [rev] 0 to (Note) 1000 Set an error excessive alarm level. Set the level in rev unit. Setting "0" will apply 3 rev. Setting over 200 rev will be clamped with 200 rev.
Page 126 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC07 Zero speed Set an output range of ZSP (Zero speed detection). [r/min] ZSP (Zero speed detection) has hysteresis of 20 r/min. 10000 PC08 Overspeed alarm detection level Set an overspeed alarm detection level. [r/min] When you set a value exceeding "servo motor maximum speed ×...
Page 127 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC24 RSBR Forced stop deceleration time constant 0 to [ms] 20000 Set a deceleration time constant for the forced stop deceleration function. Set the time taken from the rated speed to 0 r/min in ms unit. Setting "0"...
Page 128: I/O Setting Parameters ([Pr. Pd_ _ ])
5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PC38 Error excessive warning level 0 to [rev] 1000 Set an error excessive warning level. To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive warning] selection"...
Page 129 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD03 *DI1 Input device selection 1 Refer to the "Name and You can assign any input device to the CN3-2 pin. function" column. Setting Initial Explanation digit value _ _ x x Device selection Refer to table 5.7 for settings.
Page 130 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD07 *DO1 Output device selection 1 Refer to the "Name and You can assign any output device to the CN3-13 pin. As the initial value, MBR function" column. (Electromagnetic brake interlock) is assigned to the pin. Setting Initial Explanation...
Page 131 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD09 *DO3 Output device selection 3 Refer to the "Name and You can assign any output device to the CN3-15 pin. As the initial value, Always off is function" column. assigned to the pin.
Page 132 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PD14 *DOP3 Function selection D-3 Refer to the "Name and Setting Initial function" column. Explanation digit value _ _ _ x For manufacturer setting _ _ x _ Selection of output device at warning occurrence Select the WNG (Warning) and ALM (Malfunction) output status at warning occurrence.
Page 133: Extension Setting 2 Parameters ([Pr. Pe_ _ ])
5. PARAMETERS 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Initial Setting Symbol Name and function value range [unit] PE41 EOP3 Function selection E-3 Refer to the "Name and Setting Initial function" column. Explanation digit value _ _ _ x Robust filter selection 0: Disabled 1: Enabled...
Page 134: Extension Setting 3 Parameters ([Pr. Pf_ _ ])
5. PARAMETERS 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Initial Setting Symbol Name and function value range [unit] PF06 *FOP5 Function selection F-5 Refer to the "Name and Setting Initial function" column. Explanation digit value _ _ _ x Electronic dynamic brake selection 0: Disabled 3: Automatic (enabled only for specified servo motors)
Page 135 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PF25 CVAT Instantaneous power failure tough drive - Detection time 30 to [ms] 2000 Set the time until the occurrence of [AL. 10.1 Voltage drop in the power]. To disable the parameter, select "Disabled (_ 0 _ _)" of "instantaneous power failure tough drive selection"...
Page 136: Different Adjustment Methods
6. NORMAL GAIN ADJUSTMENT 6. NORMAL GAIN ADJUSTMENT POINT In the torque control mode, you do not need to make gain adjustment. Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly.
Page 137: Adjustment Using Mr Configurator2
6. NORMAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage Start Interpolation 2 gain adjustment mode 1 made for 2 or more (interpolation mode) axes? The load fluctuation is large during driving? One-touch tuning Handle the error Error handling Finished normally? Auto tuning mode 1 is possible? Adjustment OK?
Page 138: One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT 6.2 One-touch tuning POINT When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning function selection] is "_ _ _1" (initial value). At start of the one-touch tuning, only when "Auto tuning mode 1 (_ _ _ 1)" or "2 gain adjustment mode 1 (interpolation mode) (_ _ _ 0)"...
Page 139 6. NORMAL GAIN ADJUSTMENT The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment mode selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other parameters will be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning response]. Table 6.1 List of parameters automatically set with one-touch tuning Parameter Symbol...
Page 140: One-Touch Tuning Flowchart
6. NORMAL GAIN ADJUSTMENT 6.2.1 One-touch tuning flowchart (1) User command method Make one-touch tuning as follows. Start Start a system referring to chapter 4. Startup of the system Rotate the servo motor by a servo system controller. (In the user command method, the one- Operation touch tuning cannot be executed if the servo motor is not operating.) One-touch tuning start,...
Page 141 6. NORMAL GAIN ADJUSTMENT (2) Amplifier command method Make one-touch tuning as follows. Start Start a system referring to chapter 4. Startup of the system Move the moving part to the center of a movable range. Movement to tuning start position Start one-touch tuning of MR Configurator2, and select "Amplifier command method".
Page 142: Display Transition And Operation Procedure Of One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT 6.2.2 Display transition and operation procedure of one-touch tuning (1) Command method selection Select a command method from two methods in the one-touch tuning window of MR Configurator2. 6 - 7...
Page 143 6. NORMAL GAIN ADJUSTMENT (a) User command method It is recommended to input commands meeting the following conditions to the servo amplifier. If one- touch tuning is executed while commands which do not meet the conditions are inputted to the servo amplifier, the one-touch tuning error may occur.
Page 144 6. NORMAL GAIN ADJUSTMENT (b) Amplifier command method Input a permissible travel distance. Input it in the servo motor-side resolution unit. In the amplifier command method, the servo motor will be operated in a range between "current value ± permissible travel distance".
Page 145 6. NORMAL GAIN ADJUSTMENT (2) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Table 6.2 Response mode explanations Response mode Explanation High mode This mode is for high-rigid system. Basic mode This mode is for standard system.
Page 146 6. NORMAL GAIN ADJUSTMENT Refer to the following table for selecting a response mode. Table 6.3 Guideline for response mode Response mode Machine characteristic Response Low mode Basic mode High mode Guideline of corresponding machine Low response Arm robot General machine tool conveyor Precision working machine...
Page 147 6. NORMAL GAIN ADJUSTMENT (3) One-touch tuning execution POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PA25 One-touch tuning overshoot permissible level] will shorten the settling time and improve the response.
Page 148 6. NORMAL GAIN ADJUSTMENT After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller. To return to the state in which control is performed by commands from the controller, reset the controller or cycle the power. During processing of one-touch tuning, the progress will be displayed as follows.
Page 149 6. NORMAL GAIN ADJUSTMENT After the one-touch tuning is completed, "0000" will be displayed at status in error code. In addition, settling time and overshoot amount will be displayed in "Adjustment result". (4) Stop of one-touch tuning During one-touch tuning, clicking the stop button stops one-touch tuning. At this time, "C000" is displayed at status in error code.
Page 150 6. NORMAL GAIN ADJUSTMENT (5) If an error occurs If a tuning error occurs during tuning, one-touch tuning will be stopped. With that, the following error code will be displayed in status. Check the cause of tuning error. When executing one-touch tuning again, stop the servo motor once.
Page 151 6. NORMAL GAIN ADJUSTMENT Display Name Error detail Corrective action example C006 Amplifier command start One-touch tuning was attempted to start in Execute the one-touch tuning in the amplifier error the amplifier command method under the command method while the servo motor is following speed condition.
Page 152 6. NORMAL GAIN ADJUSTMENT (8) Initializing one-touch tuning Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to return the parameter to the initial value. Refer to table 6.1 for the parameters which you can initialize. Clicking "Return to value before adjustment"...
Page 153: Caution For One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT 6.2.3 Caution for one-touch tuning (1) Caution common for user command method and amplifier command method (a) The tuning is not available in the torque control mode. (b) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor driving is occurring.
Page 154: Auto Tuning
6. NORMAL GAIN ADJUSTMENT 6.3 Auto tuning 6.3.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor inertia 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 155: Auto Tuning Mode Basis
6. NORMAL GAIN ADJUSTMENT 6.3.2 Auto tuning mode basis The block diagram of real-time auto tuning is shown below. Load moment Automatic setting of inertia Encoder Loop gain Command Current PG1, PG2, control VG2, VIC Servo motor Current feedback Real-time Position/speed Set 0 or 1 to turn on.
Page 156: Adjustment Procedure By Auto Tuning
6. NORMAL GAIN ADJUSTMENT 6.3.3 Adjustment procedure by auto tuning Since auto tuning is enabled 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 157: Response Level Setting In Auto Tuning Mode
6. NORMAL GAIN ADJUSTMENT 6.3.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the trackability to a command improves and settling time decreases, but setting the response level too high will generate vibration.
Page 158: Manual Mode
6. NORMAL GAIN ADJUSTMENT 6.4 Manual mode If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually. POINT If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46] to [Pr.
Page 159 6. NORMAL GAIN ADJUSTMENT (c) Parameter adjustment 1) [Pr. PB09 Speed loop gain] This parameter determines the response level of the speed control loop. Increasing the setting increases the response level, but the mechanical system is liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Page 160 6. NORMAL GAIN ADJUSTMENT (b) Adjustment procedure Step Operation Description Adjust gains briefly with auto tuning. Refer to section 6.3.3. Change the setting of auto tuning to the manual mode ([Pr. PA08]: _ _ _ 3). Set an estimated value to the load to motor inertia ratio. (If the estimate value with auto tuning is correct, setting change is not required.) Set a small value to the model loop gain and the position loop...
Page 161: Gain Adjustment Mode
6. NORMAL GAIN ADJUSTMENT 3) [Pr. PB08 Position loop gain] This parameter determines the response level to a disturbance to the position control loop. Increasing the position loop gain increases the response level to a disturbance, but the mechanical system is liable to vibrate. Speed loop gain Position loop gain guideline ≤...
Page 162 6. NORMAL GAIN ADJUSTMENT (2) 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load to motor inertia ratio in [Pr.
Page 163 6. NORMAL GAIN ADJUSTMENT (4) Parameter adjustment [Pr. PB07 Model loop gain] This parameter determines the response level of the position control loop. Increasing the value improves trackability to a position command, but a too high value will make overshoot liable to occur at settling. Number of droop pulses is determined by the following expression.
Page 164: Filter Setting
7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used normally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6. 7.1 Filter setting The following filters are available with MR-JE servo amplifiers.
Page 165 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth, and width. Machine resonance point Frequency Notch width...
Page 166 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter (a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth, and notch width of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]). When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.
Page 167: Adaptive Filter Ii
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.2 Adaptive filter II POINT The machine resonance frequency which adaptive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds.
Page 168 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)]. [Pr. PB01] Filter tuning mode selection Setting Filter tuning mode selection Automatically set parameter value Disabled Automatic setting PB13/PB14 Manual setting Tuning accuracy selection (Note)
Page 169: Shaft Resonance Suppression Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.3 Shaft resonance suppression filter POINT This filter is set properly by default according to the servo motor you use and load moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0" (automatic setting) because changing "Shaft resonance suppression filter selection"...
Page 170: Low-Pass Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.4 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as the initial value.
Page 171 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not vibrate. Servo motor side Servo motor side Load side Load side...
Page 172 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning procedure The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning. Vibration suppression control tuning Operation Is the target response...
Page 173 7. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibration frequency does not provide an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external measuring instrument, do not set the same value but set different values to improve the vibration suppression performance.
Page 174: Command Notch Filter
7. SPECIAL ADJUSTMENT FUNCTIONS (a) When a vibration peak can be confirmed with the machine analyzer using MR Configurator2, or external measuring instrument. Vibration suppression control 2 - Vibration frequency (anti-resonance frequency) [Pr. PB52] Vibration suppression control 2 - Resonance frequency [Pr.
Page 175 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function Command notch filter has a function that lowers the gain of the specified frequency contained in a position command. By lowering the gain, load-side vibration, such as work-side vibration and base shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be set.
Page 176: Gain Switching Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2 Gain switching function You can switch gains with the function. You can switch gains during rotation and during stop, and can use a control command from a controller to switch gains during operation. 7.2.1 Applications The following shows when you use the function.
Page 177: Function Block Diagram
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.2 Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition]. [Pr.
Page 178: Parameter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.3 Parameter When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.
Page 179 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Switchable gain parameter Before switching After switching Loop gain Parameter Symbol Name Parameter Symbol Name Load to motor inertia ratio PB06 Load to motor inertia ratio PB29 GD2B Load to motor inertia ratio after gain switching Model loop gain PB07 Model loop gain...
Page 180 7. SPECIAL ADJUSTMENT FUNCTIONS (a) [Pr. PB06] to [Pr. PB10] These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio, position loop gain, model loop gain, speed loop gain, and speed integral compensation to be switched.
Page 181: Gain Switching Procedure
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.4 Gain switching procedure This operation will be described by way of setting examples. (1) When you choose switching by a control command from the controller (a) Setting example Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio 4.00 [Multiplier]...
Page 182 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart Control command from controller After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms → → Model loop gain → → Load to motor inertia ratio 4.00 10.00 4.00 → → Position loop gain →...
Page 183 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Switching timing chart Command pulses Droop pulses Command pulses +CDL Droop pulses [pulse] -CDL After-switching gain 63.4% Before-switching gain Gain switching CDT = 100 ms → → → Load to motor inertia ratio 4.00 10.00 4.00 10.00 →...
Page 184 7. SPECIAL ADJUSTMENT FUNCTIONS (b) Return time constant disabled was selected. The gain switching time constant is enabled. The time constant is disabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28 (CDT)] = 100 [ms].
Page 185: Tough Drive Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Tough drive function POINT Enable or disable the tough drive function with [Pr. PA20 Tough drive setting]. (Refer to section 5.2.1.) This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.
Page 186 7. SPECIAL ADJUSTMENT FUNCTIONS The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and compares it with [Pr. PB13] and [Pr. PB15], and resets a machine resonance frequency of a parameter whose set value is closer. Parameter that is Filter Setting parameter...
Page 187: Instantaneous Power Failure Tough Drive Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3.2 Instantaneous power failure tough drive function The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the tolerance against instantaneous power failures using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL.
Page 188 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Instantaneous power failure time < [Pr. PF25 Instantaneous power failure tough drive - Detection time] Operation status differs depending on how bus voltage decreases. (a) When the bus voltage decreases to 200 V DC or lower within the instantaneous power failure time [AL.
Page 189: Model Adaptive Control Disabled
7. SPECIAL ADJUSTMENT FUNCTIONS 7.4 Model adaptive control disabled POINT Change the parameters while the servo motor stops. When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operation status of the servo motor. (1) Summary The servo amplifier has a model adaptive control.
Page 190: Lost Motion Compensation Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Lost motion compensation function POINT The lost motion compensation function is enabled only in the position control mode. The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting.
Page 191 7. SPECIAL ADJUSTMENT FUNCTIONS (d) Lost motion compensation timing ([Pr. PE49]) You can set the delay time of the lost motion compensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.
Page 192 7. SPECIAL ADJUSTMENT FUNCTIONS (d) Adjusting the lost motion compensation When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are eliminated.
Page 193 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO 7 - 30...
Page 194: Explanation For The Lists
8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT Refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. As soon as an alarm occurs, make the Servo-off status and interrupt the power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
Page 195: Alarm List
8. TROUBLESHOOTING 8.2 Alarm list Stop Alarm deactivation Detail method Name Detail name Alarm Power (Note 2, reset reset cycling 10.1 Voltage drop in the power Undervoltage 10.2 Bus voltage drop 12.1 RAM error 1 12.2 RAM error 2 12.3 RAM error 3 Memory error 1 (RAM) 12.4...
Page 196 8. TROUBLESHOOTING Stop Alarm deactivation Detail method Name Detail name Alarm Power (Note 2, reset reset cycling 19.1 Flash-ROM error 1 19.2 Flash-ROM error 2 Memory error 3 (Flash-ROM) 19.4 Flash-ROM error 4 19.5 Flash-ROM error 5 1A.1 Servo motor combination error 1 Servo motor combination error 1A.4...
Page 197 8. TROUBLESHOOTING Stop Alarm deactivation Detail method Name Detail name Alarm Power (Note 2, reset reset cycling SSCNET receive error Continuous communication data 36.1 error 37.1 Parameter setting range error Parameter error 37.2 Parameter combination error 37.3 Point table setting error 39.1 Program error 39.2...
Page 198 8. TROUBLESHOOTING Stop Alarm deactivation Detail method Name Detail name Alarm Power (Note 2, reset reset cycling USB communication USB communication time-out time-out error/serial 8A.1 error/serial communication time- communication time- out error out error/Modbus RTU Modbus RTU communication time- communication time- 8A.2 out error out error...
Page 199: Warning List
8. TROUBLESHOOTING 8.3 Warning list Stop Detail method Name Detail name (Note 2, 90.1 Home position return incomplete Home position return Home position return abnormal 90.2 incomplete warning termination 90.5 Z-phase unpassed Servo amplifier Main circuit device overheat overheat warning 91.1 warning (Note 1)
Page 200 8. TROUBLESHOOTING Stop Detail method Name Detail name (Note 2, Servo-on signal on during main E9.1 circuit off Bus voltage drop during low speed Main circuit off warning E9.2 operation Ready-on signal on during main E9.3 circuit off Overload warning 2 EC.1 Overload warning 2 Output watt excess...
Page 201 8. TROUBLESHOOTING MEMO 8 - 8...
Page 202 9. DIMENSIONS 9. DIMENSIONS 9.1 Servo amplifier (1) MR-JE-10B to MR-JE-40B [Unit: mm] With MR-BAT6V1SET-A φ6 mounting hole Approx. 80 CNP1 The built-in regenerative resistor (lead wire) is mounted only in MR-JE-40B. Mass: 0.8 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m]...
Page 203 9. DIMENSIONS (2) MR-JE-70B/MR-JE-100B [Unit: mm] With MR-BAT6V1SET-A φ6 mounting hole Approx. 80 CNP1 Mass: 1.5 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 Approx. 70 3-M5 screw Screw size: M4 Tightening torque: 1.2 [N•m] 42 ± 0.3 Approx.
Page 204 9. DIMENSIONS (3) MR-JE-200B/MR-JE-300B [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust CNP1 CNP2 Cooling fan With MR-BAT6V1SET-A air intake Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 Approx. 90 (Note) CNP2 3-M5 screw Screw size: M4 Tightening torque: 1.2 [N•m]...
Page 205 9. DIMENSIONS 9.2 Connector (1) CN1A/CN1B connector [Unit: mm] F0-PF2D103 F0-CF2D103-S 17.6 ± 0.2 17.6 ± 0.2 20.9 ± 0.2 20.9 ± 0.2 (2) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 9 - 4...
Page 206: Overload Protection Characteristics
10. CHARACTERISTICS 10. CHARACTERISTICS 10.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig.
Page 207 10. CHARACTERISTICS 1000 Operating Servo-lock (Note) Load ratio [%] HG-SN152_/HG-SN202_/ HG-SN302_ Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a 50 r/min or lower low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.
Page 208: Power Supply Capacity And Generated Loss
(Note 1) (Note 2) Servo amplifier- Area required generated heat [W] Power supply Servo amplifier Servo motor for heat capacity dissipation [m At rated output With servo-off [kVA] MR-JE-10B HG-KN13_ MR-JE-20B HG-KN23_ MR-JE-40B HG-KN43_ HG-KN73_ MR-JE-70B HG-SN52_ MR-JE-100B HG-SN102_ HG-SN152_ MR-JE-200B...
Page 209 10. CHARACTERISTICS (2) Heat dissipation area for an enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 ˚C at the ambient temperature of 40 ˚C. (With an approximately 5 ˚C safety margin, the system should operate within a maximum 55 ˚C limit.) The necessary cabinet heat dissipation area can be calculated by equation 10.1.
Page 210: Dynamic Brake Characteristics
10. CHARACTERISTICS 10.3 Dynamic brake characteristics The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance. If an enough braking distance is not provided, a moving part may crash CAUTION into the stroke end, which is very dangerous.
Page 211: Dynamic Brake Operation
10. CHARACTERISTICS 10.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ...
Page 212: Permissible Load To Motor Inertia When The Dynamic Brake Is Used
10. CHARACTERISTICS 10.3.2 Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.
Page 213: Inrush Current At Power-On
The following table indicates the inrush currents (reference data) that will flow when 240 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m. Even when you use a 1-phase 200 V AC power supply with MR-JE-10B to MR-JE-200B, the inrush currents will be the same. Servo amplifier...
Page 214: Cable/Connector Sets
11. OPTIONS AND PERIPHERAL EQUIPMENT 11. OPTIONS AND PERIPHERAL EQUIPMENT Before connecting options and peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric WARNING shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 215: Combinations Of Cable/Connector Sets
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.1 Combinations of cable/connector sets Battery unit MR-BT6VCASE and MR-BAT6V1 battery Personal computer Battery Servo system controller Servo amplifier Servo amplifier 2) 3) 4) 2) 3) 4) CN1A CN1A CN1B CN1B (packed with the Packed with the servo amplifier) servo amplifier (Note) CNP1...
Page 216 11. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Application Servo amplifier MR-JECNP1-01 Connector for CNP1: 09JFAT-SAXGDK-H5.0 Supplied (JST) with servo CNP1 power amplifiers connector Applicable wire size: AWG 18 to 14 of 1 kW or Insulator OD: to 3.9 mm less Open tool: J-FAT-OT (N) J-FAT-OT (JST)
Page 217 11. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Application Battery cable MR-BT6V1CBL_M Housing: PAP-02V-O Connector: 10114-3000PE connection Cable length: Contact: SPHD-001G-P0.5 Shell kit: 10314-52F0-008 with battery 0.3 m or 1 m (JST) (3M or equivalent) unit (Refer to section 11.1.3.) Junction battery MR-BT6V2CBL_M...
Page 218: Sscnet Iii Cable
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.2 SSCNET III cable POINT Do not look directly at the light generated from the CN1A connector and CN1B connector of servo amplifier or the end of SSCNET III cable. The light can be a discomfort when it enters the eye.
Page 219 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Dimensions (a) MR-J3BUS015M [Unit: mm] Protective tube Approx. Approx. Approx. Approx. 13.4 37.65 (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) in this section for cable length (L). [Unit: mm] Protective tube (Note) Approx.
Page 220: Battery Cable And Junction Battery Cable
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.3 Battery cable and junction battery cable (1) Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the numbers are available. Cable length Cable model Bending life...
Page 221: Regenerative Option
Regenerative power [W] Servo (Note) Built-in MR-RB032 MR-RB12 MR-RB30 MR-RB32 amplifier regenerative MR-RB50 [40 Ω] [40 Ω] [13 Ω] [40 Ω] resistor [13 Ω] MR-JE-10B MR-JE-20B MR-JE-40B MR-JE-70B MR-JE-100B MR-JE-200B MR-JE-300B Note. Always install a cooling fan. 11 - 8...
Page 222: Selection Of Regenerative Option
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.2 Selection of regenerative option 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 option. (1) Regenerative energy calculation tf (1 cycle) Time Down...
Page 223: Parameter Setting
Capacitor Inverse Capacitor Servo amplifier Servo amplifier efficiency [%] charging [J] efficiency [%] charging [J] MR-JE-10B MR-JE-100B MR-JE-20B MR-JE-200B MR-JE-40B MR-JE-300B MR-JE-70B Inverse efficiency (η ): Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. The efficiency varies with the speed and generated torque.
Page 224: Connection Of Regenerative Option
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.4 Connection of regenerative option POINT When you use a regenerative option with an MR-JE-40B to MR-JE-100B, remove the built-in regenerative resistor and wiring from the servo amplifier. When MR-RB50 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer.
Page 225 (Note 2) 5 m or less (Note 3) Cooling fan Note 1. The built-in regenerative resistor is not provided for MR-JE-10B and MR-JE-20B. 2. Configure a sequence which will switch off the magnetic contactor when abnormal heating occurs. G3-G4 contact specifications Maximum voltage: 120 V AC/DC Maximum current: 0.5 A/4.8 V DC...
Page 226 11. OPTIONS AND PERIPHERAL EQUIPMENT To remove the built-in regenerative resistor mounted on the back of MR-JE-40B to MR-JE-100B, refer to the following illustration and follow the procedures 1) to 3). 1) Disconnect the wirings of the built-in regenerative resistor from the power connector (CNP1). (Refer to section 3.3.3 (2) (b).) 2) Remove the wirings of the built-in regenerative resistor from the closest position to the power connector (CNP1) in order.
Page 227 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) MR-JE-200B or more Always remove the wiring from across P+ to D and mount the regenerative option across P+ to C. G3 and G4 are terminals for the thermal sensor. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Page 228: Dimensions
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.5 Dimensions (1) MR-RB12 [Unit: mm] TE1 terminal block φ6 mounting hole Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 1.1 [kg] Approx.
Page 229 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) MR-RB50 [Unit: mm] Terminal block Cooling fan mounting screw (2-M3 screw) On opposite side 7 × 14 82.5 slotted hole Terminal screw size: M4 Tightening torque: 1.2 [N•m] Mounting screw Screw size: M6 Intake Tightening torque: 5.4 [N•m] Mass: 5.6 [kg] Approx.
Page 230: Junction Terminal Block Ps7Dw-20V14B-F (Recommended)
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.3 Junction terminal block PS7DW-20V14B-F (recommended) (1) Usage Always use the junction terminal block (PS7DW-20V14B-F (Toho Technology)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below. Servo amplifier Junction terminal block Cable clamp PS7DW-20V14B-F (AERSBAN-ESET)
Page 231: Mr Configurator2
JOG operation, positioning operation, motor-less operation, DO forced output, program Test operation operation, test mode information Adjustment One-touch tuning, tuning, and machine analyzer Servo assistant, parameter setting range update, machine unit conversion setting, help display, Others connecting to Mitsubishi Electric FA site 11 - 18...
Page 232: System Requirements
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.4.2 System requirements (1) Component To use MR Configurator2 (SW1DNC-MRC2-_), the following components are required in addition to the servo amplifier and servo motor. Equipment Description Microsoft ® Windows ® 10 Home Microsoft Windows 10 Pro ®...
Page 233: Precautions For Using Usb Communication Function
11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection with servo amplifier Personal computer USB cable To USB MR-J3USBCBL3M Servo amplifier connector (Option) 11.4.3 Precautions for using USB communication function Note the following to prevent an electric shock and malfunction of the servo amplifier. (1) Power connection of personal computer Connect your personal computer with the following procedures.
Page 234: Battery
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.5 Battery POINT Refer to app. 2 and 3 for battery transportation and the new EU Battery Directive. The battery is used to construct an absolute position detection system. For construction of an absolute position detection system, refer to chapter 12. 11.5.1 Selection of battery Applicable batteries differ depending on servo amplifiers.
Page 235: Mr-Bat6V1Set-A Battery
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.5.2 MR-BAT6V1SET-A battery POINT For the specifications and the year and month of manufacture of the built-in MR- BAT6V1 battery, refer to section 11.5.4. (1) Parts identification and dimensions [Unit: mm] 27.4 Case Connector for servo amplifier Mass: 55 [g] (including MR-BAT6V1 battery) (2) Battery connection Connect a battery as follows.
Page 236 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Battery replacement procedure Before replacing a battery, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, WARNING when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 237 11. OPTIONS AND PERIPHERAL EQUIPMENT For MR-JE-200B or more, connect the battery cable as follows. Install a battery, and route the battery cable along the right side of the battery. When connecting the encoder cable to CN2 connector, prevent the battery cable from being pinched. Install a battery, and connect the plug to the CN4 connector.
Page 238 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET-A reaches the end of its life, replace the MR-BAT6V1 battery in the MR- BAT6V1SET-A. 1) Hold the tab and open the cover. Cover 2) Replace the battery with a new MR-BAT6V1 battery. 3) Press the cover until it is fixed with the projection of the locking part to close the cover.
Page 239: Mr-Bt6Vcase Battery Case
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.5.3 MR-BT6VCASE battery case POINT The battery unit consists of an MR-BT6VCASE battery case and five MR- BAT6V1 batteries. For the specifications and the year and month of manufacture of the MR- BAT6V1 battery, refer to section 11.5.4. MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries.
Page 240 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Battery connection POINT One battery unit can be connected to up to 8-axis servo motors. Servo motors in an incremental system are included as the axis numbers. (a) When using 1-axis servo amplifier MR-BT6VCASE CN10 MR-BT6V1CBL_M Servo amplifier...
Page 241 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Battery replacement procedure Before replacing a battery, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, WARNING when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 242 11. OPTIONS AND PERIPHERAL EQUIPMENT (a) Assembly of the battery unit Do not mount new and old batteries together. CAUTION When you change a battery, change all batteries at the same time. POINT Always mount five MR-BAT6V1 batteries to the MR-BT6VCASE battery case. 1) Things to be prepared Product name Model...
Page 243 11. OPTIONS AND PERIPHERAL EQUIPMENT b) Mounting MR-BAT6V1 Securely mount an MR-BAT6V1 to the BAT1 holder. BAT1 Insert the MR-BAT6V1 connector mounted on the BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect direction, the connector will break.
Page 244 11. OPTIONS AND PERIPHERAL EQUIPMENT c) Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m. POINT When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.
Page 245: Mr-Bat6V1 Battery
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.5.4 MR-BAT6V1 battery The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET-A and MR-BAT6V1SET and a primary lithium battery built-in MR-BT6VCASE. Always store the MR-BAT6V1 in a case when using it. The year and month of manufacture of the MR-BAT6V1 battery are described on the rating plate put on an MR-BAT6V1 battery.
Page 246: Selection Example Of Wires
Table 11.1 shows examples for using the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire). Table 11.1 Wire size selection example (HIV wire) Wire [mm Servo amplifier 2) U/V/W/ 3) P+/C 1) L1/L2/L3/ (Note 1) MR-JE-10B MR-JE-20B AWG 18 to 14 MR-JE-40B (Note 2) MR-JE-70B 2 (AWG 14) MR-JE-100B MR-JE-200B...
Page 247: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
80 ms or shorter. 3. S-N18 can be used when auxiliary contact is not required. 4. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric general- purpose products. The Type E Combination motor controller can also be used instead of a molded-case circuit breaker.
Page 248: Power Factor Improving Ac Reactor
(a) For 3-phase 200 V AC to 240 V AC power supply Servo amplifier FR-HAL MCCB 3-phase 200 V AC to 240 V AC (b) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-10B to MR-JE-100B Servo amplifier FR-HAL MCCB (Note) 1-phase 200 V AC to 240 V AC Note.
Page 249: Relay (Recommended)
Fig. 11.1 Dimensions [mm] Power factor Terminal Mass Servo amplifier improving AC Dimensions size [kg] reactor (Note 3) MR-JE-10B, MR-JE-20B FR-HAL-0.4K MR-JE-40B FR-HAL-0.75K MR-JE-70B FR-HAL-1.5K MR-JE-100B FR-HAL-2.2K (3-phase power supply input) (Note 3) MR-JE-100B Fig. 11.1 (1-phase power supply input) FR-HAL-3.7K...
Page 250: Noise Reduction Techniques
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.10 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral equipment to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.
Page 251 11. OPTIONS AND PERIPHERAL EQUIPMENT Sensor power supply Servo amplifier Instrument Receiver Sensor Servo motor Noise transmission Suppression techniques 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 cabinet together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
Page 252 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Noise reduction products (a) Data line filter (recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.
Page 253 11. OPTIONS AND PERIPHERAL EQUIPMENT (c) Cable clamp fitting AERSBAN-_SET Generally, connecting the grounding of the shielded wire to the SD terminal of the connector provides a sufficient effect. However, the effect can be increased when the shielded wire is connected directly to the grounding plate as shown below.
Page 254 11. OPTIONS AND PERIPHERAL 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 (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band.
Page 255 11. OPTIONS AND PERIPHERAL EQUIPMENT (e) Radio noise filter (FR-BIF) This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the input only.
Page 256: Earth-Leakage Current Breaker
30 cm or longer between the wires and ground. Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA] ···································· (11.1) Earth-leakage current breaker Wire Mitsubishi Noise filter Type Electric...
Page 257 Table 11.4 Earth-leakage current breaker selection example Rated sensitivity current of earth- Servo amplifier capacity [kW] leakage current breaker [mA] MR-JE-10B to MR-JE-300B (2) Selection example Indicated below is an example of selecting an earth-leakage current breaker under the following conditions.
Page 258: Emc Filter (Recommended)
Recommended filter (Soshin Electric) Servo amplifier Mass [kg] Rated current Rated voltage [V Leakage current Model [mA] MR-JE-10B to HF3010A-UN (Note) MR-JE-100B MR-JE-200B, HF3030A-UN (Note) MR-JE-300B Note. A surge protector is separately required to use any of these EMC filters. (2) Connection example...
Page 259 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-10B to MR-JE-100B EMC filter Servo amplifier MCCB (Note 1) 1-phase 200 V AC to 240 V AC (Note 2) Surge protector (RSPD-250-U4) (OKAYA Electric Industries Co., Ltd.)
Page 260 11. OPTIONS AND PERIPHERAL EQUIPMENT (3) Dimensions (a) EMC filter HF3010A-UN [Unit: mm] 3-M4 4-5.5 × 7 3-M4 Approx. 41 258 ± 4 65 ± 4 273 ± 2 288 ± 4 300 ± 5 HF3030A-UN [Unit: mm] 6-R3.25 length: 8 3-M5 3-M5 70 ±...
Page 261 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) Surge protector RSPD-250-U4 [Unit: mm] φ 4.2 ± 0.5 Resin Lead Case 41 ± 1 11 - 48...
Page 262: Summary
12. ABSOLUTE POSITION DETECTION SYSTEM 12. ABSOLUTE POSITION DETECTION SYSTEM If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation. CAUTION If [AL. 25], [AL. 92], or [AL. 9F] occurs due to a failure, such as short circuit of the battery, the MR-BAT6V1 battery can become hot.
Page 263: Configuration
12. ABSOLUTE POSITION DETECTION SYSTEM 12.1.2 Configuration The following shows a configuration of the absolute position detection system. Refer to section 11.5 for the connection of the battery. Servo system controller Servo amplifier CN1A Battery Servo motor 12.1.3 Parameter setting Set "_ _ _ 1"...
Page 264: Battery
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Battery 12.2.1 Using the MR-BAT6V1SET-A battery (1) Configuration diagram Servo system controller Servo amplifier Position data Current position Home position data Detecting the Detecting the Step-down number of position at circuit CYC0 revolutions one revolution (6 V 3.4 V) MR-BAT6V1SET-A...
Page 265: Using The Mr-Bt6Vcase Battery Case
12. ABSOLUTE POSITION DETECTION SYSTEM 12.2.2 Using the MR-BT6VCASE battery case POINT One MR-BT6VCASE can hold the absolute position data of up to 8-axis servo motors. Always install five MR-BAT6V1 batteries to MR-BT6VCASE. (1) Configuration diagram Servo system controller Servo amplifier Position data Current position Home position data...
Page 266 APPENDIX APPENDIX App. 1 Peripheral equipment manufacturer (for reference) Names given in the table are as of August 2017. For information, such as the delivery time, price, and specifications of the recommended products, contact each manufacturer. Manufacturer Contact information NEC TOKIN NEC TOKIN Corporation Kitagawa Industries Kitagawa Industries Co., Ltd.
Page 267 APPENDIX (b) Battery unit (assembled battery) Lithium Mass of Model Option model Type Remark content battery Assembled batteries with more than Assembled two grams of lithium content must be MR-J2M-BT battery 4.55 g 112 g handled as dangerous goods (Class (Seven) 9) regardless of packaging requirements.
Page 268 For sea or air transportation, attaching the handling label (fig. app. 1) must be attached to the package of a Mitsubishi Electric cell or battery. In addition, attaching it to the outer package containing several packages of Mitsubishi Electric cells or batteries is also required. When the content of a package must be handled as dangerous goods (Class 9), the Shipper's Declaration for Dangerous Goods is required, and the package must be compliant with Class 9 Packages.
Page 269 Note. This symbol mark is for EU countries only. This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II. Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused.
Page 270 Use the MR-JE servo amplifiers within specifications. Refer to each instruction manual for specifications such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation.
Page 271 APPENDIX (1) Peripheral device and power wiring The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 14. (a) Local wiring The following table shows the stranded wire sizes [AWG] symbols rated at 75 °C/60 °C. 75 °C/60 °C stranded wire [AWG] Servo amplifier (Note 3) L1/L2/L3/...
Page 272 DC power supply. (b) For Declaration of Conformity (DoC) Hereby, MITSUBISHI ELECTRIC EUROPE B.V., declares that the servo amplifiers are in compliance with the necessary requirements and standards (2014/30/EU, 2014/35/EU, and 2011/65/EU). For the copy of Declaration of Conformity, contact your local sales office.
Page 273 APPENDIX (3) USA/Canada compliance This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 14. (a) Installation The minimum cabinet size is 150% of MR-JE servo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in the metal cabinet.
Page 274 APPENDIX App. 4.1.6 Lithium battery transportation To transport lithium batteries, take actions to comply with the instructions and regulations such as the United Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime Organization (IMO). The batteries (MR-BAT6V1SET-A and MR-BAT6V1) are assembled batteries from two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods (Class 9) of the UN Recommendations.
Page 275 APPENDIX App. 4.3 Electrical Installation and configuration diagram Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or WARNING damages to the product before starting the installation or wiring. Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
Page 276 APPENDIX App. 4.4 Signals App. 4.4.1 Signal The following shows CN1 connector signals of MR-JE-10A as a typical example. DICOM DICOM DOCOM DOCOM This is in position control mode. App. - 11...
Page 277 APPENDIX App. 4.4.2 I/O device The following shows typical I/O devices of MR-JE-_A. For the other devices, refer to each servo amplifier instruction manual. Input device Symbol Device Connector Pin No. Servo-on Reset Clear Forced stop 2 Forward rotation stroke end Reverse rotation stroke end Output device Symbol...
Page 278 APPENDIX App. 4.5 Maintenance and service To avoid an electric shock, only qualified personnel should attempt inspections. WARNING For repair and parts replacement, contact your local sales office. App. 4.5.1 Inspection items It is recommended that the following points periodically be checked. (1) Check for loose screws on the protective earth (PE) terminal.
Page 279 APPENDIX App. 4.6 Transportation and storage Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. For detailed information on the battery’s transportation and handing refer to each servo amplifier instruction manual. CAUTION Install the product in a load-bearing place of servo amplifier and servo motor in accordance with instruction manual.
Page 280 42 ± 0.3 MR-JE-200_/MR-JE-300_ 156 ± 0.5 78 ± 0.3 App. 5 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service POINT For the details of the SSCNET III cables, contact your local sales office. Do not look directly at the light generated from the CN1A connector and CN1B connector of servo amplifier or the end of SSCNET III cable.
Page 281 APPENDIX App. 6 Low-voltage directive MR-JE series servo amplifiers are certificated in compliance with Low-voltage directive. The following shows a certificate by the Certification Body. Refer to section 1.6 (2) for the models shown in "(see Appendix 1.1)". App. - 16...
Page 282: App. 7 When Turning On Or Off The Input Power Supply With Dc Power Supply
24 V DC (Note 5) Note 1. For 1-phase 200 V AC to 240 V AC of MR-JE-10B to MR-JE-100B, connect the power supply to L1 and L3. Leave L2 open. For 1-phase 200 V AC to 240 V AC of MR-JE-200B, connect the power supply to L1 and L2. Leave L3 open. MR-JE-300B is not applicable to 1-phase 200 V AC to 240 V AC power supply.
Page 283: App. 8 When Using The Hot Line Forced Stop Function In Combination With Mr-J4-_B Servo Amplifier And Mr-J4W-_B Servo Amplifier
APPENDIX App. 8 When using the hot line forced stop function in combination with MR-J4-_B servo amplifier and MR-J4W-_B servo amplifier At factory setting, MR-J4-_B servo amplifiers and MR-J4W-_B servo amplifiers do not decelerate to a stop by the hot line forced stop function if an alarm occurs in an MR-JE-_B servo amplifier. To decelerate MR-J4-_B servo amplifiers and MR-J4W-_B servo amplifiers to a stop by the hot line forced stop function, enable the deceleration to a stop selection with [Pr.
Page 284: App. 9 Optional Data Monitor Function
APPENDIX App. 9 Optional data monitor function The optional data monitor function is used to monitor data in the servo amplifier with the servo system controller. With the optional data monitor, the following data types of registered monitor can be set. For details of usage, unit of data type, and others, refer to the manuals for servo system controllers.
Page 285: App. 10 Using The Neutral Point Of A 3-Phase 400 V Ac Class Power Supply For Inputting A 1-Phase 200 V Ac Class Power Supply
You can use the neutral point of a 3-phase 400 V AC class power supply to input a 1-phase 200 V AC class power supply to the servo amplifier. If necessary, use a step-down transformer to decrease the power supply voltage to 200 V AC to 240 V AC. (1) For MR-JE-10B to MR-JE-100B Emergency stop switch Alarm Do not connect anything.
Page 286 APPENDIX (2) For MR-JE-200B Emergency stop switch Alarm Do not connect anything. Servo amplifier 3-phase MCCB CNP1 (Note 2) 400 V AC class Neutral 200 V AC to 240 V AC (Note 1) point Do not connect anything. Note 1. If necessary, use a step-down transformer to decrease the power supply voltage to 200 V AC to 240 V AC.
Page 287: App. 11 Status Of General-Purpose Ac Servo Products For Compliance With The China Rohs Directive
APPENDIX App. 11 Status of general-purpose AC servo products for compliance with the China RoHS directive (1) Summary The China RoHS directive: 电子信息产品污染控制管理办法 (Management Methods for Controlling Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: 电器电子产品有害物质限制使用管理办法...
Page 288 APPENDIX (3) Difference between the China RoHS directive and the EU RoHS directive The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked "...
Page 289 REVISION *The manual number is given on the bottom left of the back cover. Revision Date *Manual Number Revision Nov. 2014 SH(NA)030152ENG-A First edition Aug. 2015 SH(NA)030152ENG-B The content of one-touch tuning is changed. 1. To prevent electric shock, Partially changed. note the following.
Page 290 Revision Date *Manual Number Revision Nov. 2016 SH(NA)030152ENG-D Section 1.1 POINT is added. Section 1.2 The diagram is partially changed. Section 1.3 Partially changed. Section 3.1 CAUTION is partially changed. Note is partially changed. POINT is partially added. Section 3.2 The diagrams are partially changed.
Page 291 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 292 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.
Page 293 (1) Damages caused by any cause found not to be the responsibility of Mitsubishi. (2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products. (3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.
Page 294 MR-JE-B SERVOAMPLIFIER MODEL INSTRUCTIONMANUAL MODEL 1CW750 CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030152ENG-E(1708)MEE Printed in Japan Specifications are subject to change without notice.

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