Mitsubishi Electric FR-E700EX Manual page 2

"Mitsubishi sensorless servos"—
The new choice in drive systems
PM sensorless vector control
Magnetic pole position and speed are detected
without the use of a sensor (encoder).
A PM motor (magnet motor) is driven in high-accuracy.
Sensorless servo system is a combination of a
dedicated drive unit and dedicated sensorless PM
motor (magnet motor).
Sensorless servos realize high-accuracy operation
(PM sensorless vector control) without the use of an
encoder, facilitating the construction of highly reliable
drive systems capable of contributing to energy saving.
High Compact High Energy
accuracy size reliability saving
High
AC servo
•High-frequency operation
•High-accuracy operation
Sensorless
(speed control,
servo
position control)
Inverter •High-accuracy
speed control
•Simple variable
•Simple positioning •Simple positioning
speed operation
•Soft start/stop
•Auto operation
Low
Function/performance
1
Astonishing
business card size
(MM-GKR13)
PM sensorless vector control image
Drive unit
Output
Speed
voltage
command
Inverter
Controller
circuit
Adaptive magnetic flux
observer*
Speed/
magnetic
pole position
Virtual motor model
*An adaptive magnetic flux observer is a control system that uses a virtual motor model inside
the drive unit to detect the motor speed and pole position from the motor voltage and current.
Inverter Sensorless servo
Control amp
FR-E700 FR-A700 FR-E700EX
General-purpose Sensorless servo
inverter dedicated drive unit
Motor
General-purpose
Geared motor Sensorless PM motor
motor
Induction motor (IM) PM motor
Without encoder
Energy saving
Wire saving
Downsizing (motor)
Reliability (motor)
Control performance
High
Positioning
control accuracy
: Great effect expected :Effect expected : Average ×: Not available
High accuracy even with no encoder
Uniform product manufacturing with stable speed control
•Operation is possible at a stable speed resistant to load
fluctuations.
Speed fluctuation: ±0.05%
Speed control range: 1:1000
Speed response: 100 Hz
•Holding torque is generated by the zero speed control
and servo lock functions when the motor stops,
preventing movements caused by external forces.
Positioning possible without encoder
•Built-in positioning function (point table method) using contact signals and CC-Link communication (option).
Position data (target position, speed, acceleration/deceleration time) and so on can be set in the parameters. Positioning is possible
for up to 7 points.
Positioning operation is performed by selecting point table numbers with external interface signals. Continuous positioning is possible.
Positioning accuracy: ±1.8°
Motor internal command resolution: 5120 [pulses/rev.]
Point table setting example
Position
Point table No.
PM motor
Output
1
(without encoder)
current
2
:
7
*1: When load fluctuating between 1 and 100%
speed with no load - speed with rated load
Speed regulation =
No encoder means compact size
AC servo
•Compact, lightweight motor with no encoder also contributes to
machine downsizing.
•No cooling fan, ensuring low noise. Ideal for use in clean rooms.
MR-J4
General-purpose
servo amplifier
Induction motor (SF-JR 4P 0.1 kW)
96
Approx. % reduction
in volume ratio
93
Approx. % reduction
Servo motor
in mass ratio
With encoder
No encoder means high reliability
•There is less possibility of a breakdown by eliminating encoders
with their electronic components, facilitating improved reliability.
Time spent on wiring work can also be minimized.
•With a protective structure conforming to IP65, this motor is
highly resistant to water and dust, allowing usage with
confidence even in poor environments.
S e n s o r l e s s
High
accuracy
MM-GKR13
Torque
200%
Short time operation range
*1
150%
*2
135%
100%
*3
90% Continuous operation range
0%
750 r/min
Motor speed
*6
Maximum Acceleration Deceleration Auxiliary
data speed time time function
1000 2000 r/min 1.00 s 1.00 s 0
2000 1500 r/min 0.50 s 0.50 s 0
: : : : :
3000 3000 r/min 1.00 s 1.00 s 10
*2: Speed becomes irregular in the low-speed range
(approx. 100 r/min. or less) due to torque ripple caused
x 100(%)
rated speed by motor magnet attraction and repulsion forces.
*3: When stand-alone 0.1 kW motor operating at rated speed.
Compact
High-efficiency motor contributes to energy saving
size
• A sensorless PM motor is a high-performance, energy-saving
motor incorporating a powerful permanent magnet
(high-performance magnet) in the rotor, helping to realize
machine energy saving.
95.0%
No encoder,
90.0%
ensuring even more
compact size
and
85.0%
lighter weight
80.0%
Servo motor (HG-KR13)
79.3%
75.0%
70.0%
26
Approx. % reduction
Sensorless PM motor
in volume ratio
65.0%
(MM-GKR13)
0.1 kW
26
Approx. % reduction
in mass ratio
High
Motors with reduction gears are
reliability
also compact and highly efficient
• Newly-developed dedicated reduction
gear for motor integration. Compact
size, light weight, and high efficiency
have been realized with a locked train
gear system
*7: A single helical gear engages with multiple helical gears to devide
the load.
S e r v o
*4 *4
MM-GKR23 to 73
Torque
200%
Short time operation range
150%
100%
Continuous operation range
3000 r/min 0% 3000 r/min
Motor speed
*5
Operation example
2000
Speed
1500
Point table Point table
No.1 No.2
Position address 0 1000 2000
Point RH signal
table No.
selection
RM signal
Start STF signal
*4: Continuous operation torque of 80% or less at 6 r/min. or less.
*5: Not compatible with absolute position detection system.
*6: If input voltage of 200 to 220 VAC, and wiring length of 5 m or shorter.
Energy
saving
MM-GKR
(sensorless PM motor)
92.4%
SF-JR
89.9%
(induction motor)
86.6%
•This is the motor stand-alone
efficiency value. Furthermore, this
is a typical value under
77.6%
conditions of rated torque, rated
74.8%
speed, and normal temperature,
and is not a guaranteed value.
69.9%
•These induction motor values
were obtained at 220 V, 60 Hz.
0.2 kW 0.4 kW 0.75 kW
Compact Energy
size saving
, and aluminum gear case.
*7
2