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Mitsubishi Electric Melservo JE Series Instruction Manual

Servo amplifier, sscnet iii/h interface ac servo with functional safety
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General-Purpose AC Servo
SSCNET
/H Interface AC Servo
With functional safety
MODEL
MR-JE-_BF
SERVO AMPLIFIER
INSTRUCTION MANUAL
B

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Summary of Contents for Mitsubishi Electric Melservo JE Series

  • Page 1 General-Purpose AC Servo SSCNET /H Interface AC Servo With functional safety MODEL MR-JE-_BF SERVO AMPLIFIER INSTRUCTION MANUAL...
  • Page 2 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 of the servo amplifier turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, be sure to look at the lamp 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 cables or connectors when carrying the servo amplifier.
  • Page 5 (2) Wiring CAUTION 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. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier output side.
  • Page 6 (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. For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part.
  • 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 «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [N•m] 141.6 [oz•inch] Moment of inertia...
  • Page 10 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10 1.1 Summary ............................1- 1 1.2 Function block diagram ........................1- 2 1.3 Servo amplifier standard specifications .................... 1- 3 1.4 Combinations of servo amplifiers, servo motors, and controllers ............. 1- 5 1.4.1 Combinations of servo amplifiers and servo motors ..............
  • Page 11 3.8.1 Internal connection diagram ...................... 3-24 3.8.2 Detailed explanation of interfaces ..................... 3-25 3.8.3 Source I/O interfaces ........................ 3-26 3.9 SSCNET III cable connection ......................3-27 3.10 Servo motor with an electromagnetic brake .................. 3-29 3.10.1 Safety precautions ........................3-29 3.10.2 Timing chart ..........................
  • Page 12 6.3 Auto tuning ............................6-18 6.3.1 Auto tuning mode ........................6-18 6.3.2 Auto tuning mode basis ......................6-19 6.3.3 Adjustment procedure by auto tuning ..................6-20 6.3.4 Response level setting in auto tuning mode ................6-21 6.4 Manual mode ........................... 6-22 6.5 2 gain adjustment mode ........................
  • Page 13 11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-44 11.1 Cable/connector sets ........................11- 1 11.1.1 Combinations of cable/connector sets ................... 11- 2 11.1.2 MR-D05UDL3M-B STO cable ....................11- 4 11.1.3 SSCNET III cable ........................11- 5 11.1.4 Battery cable and junction battery cable ................11- 7 11.2 Regenerative option ........................
  • Page 14 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.-16 App. 6 EC declaration of conformity ....................App.-17 App.
  • Page 15 MEMO...
  • Page 16 "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-_BF servo amplifier is connected to controllers, including a servo system controller, on the high- speed synchronous network SSCNET III/H.
  • Page 17 1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. Regenerative option Servo motor Diode Dynamic (Note 1) stack Relay brake circuit MCCB (Note 2) Current Power detector Regene- supply rative CHARGE Cooling fan lamp (Note 3)
  • Page 18 1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications Model: MR-JE- 10BF 20BF 40BF 70BF 100BF 200BF 300BF 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 19 1. FUNCTIONS AND CONFIGURATION Model: MR-JE- 10BF 20BF 40BF 70BF 100BF 200BF 300BF 3-phase power supply Possible Close input mounting 1-phase power supply (Note 4) Possible Impossible input Operation 0 ˚C to 55 ˚C (non-freezing) Ambient temperature Storage -20 ˚C to 65 ˚C (non-freezing) Operation Ambient 5 %RH to 90 %RH (non-condensing)
  • Page 20 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-10BF HG-KN13_ MR-JE-20BF HG-KN23_ MR-JE-40BF HG-KN43_ MR-JE-70BF HG-KN73_ HG-SN52_ MR-JE-100BF HG-SN102_ MR-JE-200BF HG-SN152_ HG-SN202_ MR-JE-300BF HG-SN302_ 1.4.2 Compatible controller For the simple motion module, refer to the user's manual of each series.
  • Page 21 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 makes the equipment continue operating even under the condition that an alarm occurs. Tough drive function Section 7.3 The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.
  • Page 23 1. FUNCTIONS AND CONFIGURATION 1.6 Model designation (1) Rating plate The following shows an example of the rating plate for explanation of each item. Serial number Model Capacity Applicable power supply Rated output current Standard, Manual number Ambient temperature IP rating KC certification number The year and month of manufacture Country of origin...
  • Page 24 1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification 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 (12)
  • Page 25 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 26 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 cables or connectors when carrying the servo amplifier. Otherwise, it may drop. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual.
  • Page 27 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-70BF and MR-JE-100BF have a regenerative resistor on their back face.
  • Page 28 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. When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the left.
  • Page 29 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 30 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 31 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 32 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 33 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 34 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, be sure to look at the lamp from the front of the servo amplifier.
  • Page 35 3. SIGNALS AND WIRING Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Servo amplifier Servo motor Servo amplifier Servo motor CAUTION Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
  • Page 36 3. SIGNALS AND WIRING (1) Using 3-phase 200 V AC to 240 V AC power supply (a) When not using ALM (Malfunction) POINT Configure the power supply circuit which turns off magnetic contactors of all servo amplifiers after detection of alarm occurrence on the controller side at alarm occurrence.
  • Page 37 3. SIGNALS AND WIRING (b) When using ALM (Malfunction) POINT You can assign ALM (Malfunction) to pins CN3-9, CN3-13 and CN3-15 with [Pr. PD07] to [Pr. PD09]. Malfunction Emergency stop switch Servo amplifier Servo motor MCCB CNP1 MC (Note 9) (Note 8) 3-phase CNP3...
  • Page 38 3. SIGNALS AND WIRING (2) Using 1-phase 200 V AC to 240 V AC power supply (a) When not using ALM (Malfunction) POINT Configure the power supply circuit which turns off magnetic contactors of all servo amplifiers after detection of alarm occurrence on the controller side at alarm occurrence.
  • Page 39 3. SIGNALS AND WIRING Note 1. Be sure to 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 selecting cables, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual".
  • Page 40 3. SIGNALS AND WIRING (b) When using ALM (Malfunction) POINT You can assign ALM (Malfunction) to pins CN3-9, CN3-13 and CN3-15 with [Pr. PD07] to [Pr. PD09]. 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.
  • Page 41 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 42 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 43 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) Electromagnetic brake...
  • Page 44 3. SIGNALS AND WIRING 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of the connector and terminal block, refer to chapter 9 DIMENSIONS. Connection Symbol destination Description (application) Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3.
  • Page 45 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) Be sure to connect a magnetic contactor to the main circuit power supply (L1/L2/L3) as shown in section 3.1. When not using ALM (Malfunction), configure the power supply circuit that turns off the magnetic contactor after an alarm occurs on the controller side.
  • Page 46 3. SIGNALS AND WIRING 3.3.3 Wiring CNP1, CNP2, and CNP3 POINT For the wire sizes used for wiring, refer to section 11.6. When wiring, remove the power connectors from the servo amplifier. Insert only one wire or ferrule to each wire insertion hole. Use the servo amplifier power connectors for wiring CNP1, CNP2, and CNP3.
  • Page 47 3. SIGNALS AND WIRING (2) Cable connection procedure (a) Fabrication on cable insulator Refer to table 3.1 and 3.2 for stripped length of the cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status. Insulator Core Stripped length...
  • Page 48 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 STO I/O signal connector (CN8), refer to chapter 13. For the CN3 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.
  • Page 49 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 50 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 [Pr. PD08] (always off) DO-1 Not assigned CN3-15...
  • Page 51 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 52 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 53 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 54 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 55 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 56 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 57 3. SIGNALS AND WIRING 3.8 Interfaces 3.8.1 Internal connection diagram POINT Refer to section 13.3.1 for the CN8 connector. 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...
  • Page 58 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 59 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 60 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 61 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 62 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 63 3. SIGNALS AND WIRING (1) Connection diagram (a) When not using ALM (Malfunction) POINT When not using ALM (Malfunction), create a circuit that shuts off the main circuit by being interlocked with an alarm detected by the controller. Servo amplifier (Note 2) Servo motor 24 V DC...
  • Page 64 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 65 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 66 3. SIGNALS AND WIRING (e) Main circuit power supply off during control circuit power supply on POINT In the torque control mode, the forced stop deceleration function is not available. Forced stop deceleration Dynamic brake Dynamic brake The time until a voltage Servo motor speed drop is detected.
  • Page 67 3. SIGNALS AND WIRING (b) Off/on of the forced stop command (from controller) or EM1 (Forced stop 1) Dynamic brake Dynamic brake Electromagnetic brake + Electromagnetic brake has released. Servo motor speed Electromagnetic brake 0 r/min Approx. 10 ms Approx. 210 ms Base circuit Operation delay time Approx.
  • Page 68 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 69 3. SIGNALS AND WIRING MEMO 3 - 36...
  • Page 70 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 71 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 72 4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier should satisfy the defined specifications.
  • Page 73 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. In this case, switch on the control circuit power supply only. Refer to section 3.2 for details of I/O signal connection.
  • Page 74 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 main and control circuit power supplies are turned on, "b01" (for the first axis) appears on the servo amplifier display.
  • Page 75 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 76 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 77 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 78 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 79 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 80 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 81 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 82 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 83 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 blink. 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 blink as follows.
  • Page 84 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 85 4. STARTUP MEMO 4 - 16...
  • Page 86 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 87 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 88 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 89 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 90 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 91 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 92 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 93 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 94 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 95 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 96 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 97 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 98 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 99 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 100 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 pins CN3-9, CN3-13 and CN3-15 with [Pr.
  • Page 101 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 102 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 103 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 104 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 105 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB10 Speed integral compensation 33.7 0.1 to [ms] 1000.0 Set the integral time constant of the speed loop. Decreasing the setting value will increase the response level but will be liable to generate vibration and noise.
  • Page 106 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PB16 NHQ2 Notch shape selection 2 Refer to the "Name and Set forms of the machine resonance suppression filter 2. function" column. Setting Initial Explanation digit value _ _ _ x Machine resonance suppression filter 2 selection 0: Disabled 1: Enabled...
  • Page 107 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 108 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 of 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 109 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 110 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 111 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 112 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 113 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 114 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 115 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 of the vibration suppression control 2 for when the gain switching is enabled.
  • Page 116 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. If a value larger than 200 rev is set, the value will be fixed to 200 rev.
  • Page 117 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] If a value larger than "servo motor maximum speed ×...
  • Page 118 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 119 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 120 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 121 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 122 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 123 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 124 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 125 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 126 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PF24 *OSCL2 Vibration tough drive function selection Refer to the "Name and Setting Initial function" column. Explanation digit value _ _ _ x Oscillation detection alarm selection 0: [AL. 54 Oscillation detection] will occur at oscillation detection. 1: [AL.
  • Page 127 5. PARAMETERS MEMO 5 - 42...
  • Page 128 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 129 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 130 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 131 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 132 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 133 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 134 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 135 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 136 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 137 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 138 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 139 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 140 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 141 6. NORMAL GAIN ADJUSTMENT (5) If an error occurs If a tuning error occurs during the one-touch tuning, the 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 142 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 143 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 144 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 145 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 146 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 147 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 148 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 149 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 150 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 151 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 152 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 153 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 154 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 155 6. NORMAL GAIN ADJUSTMENT MEMO 6 - 28...
  • Page 156 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 157 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 frequency (notch frequency) at which the gain is decreased, and the notch depth and width. Machine resonance point Frequency Notch width...
  • Page 158 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 159 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 160 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...
  • Page 161 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 162 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 163 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 164 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 165 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 166 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 167 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 168 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 169 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 170 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 171 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 172 7. SPECIAL ADJUSTMENT FUNCTIONS (a) [Pr. PB06] to [Pr. PB10] These parameters are the same as in ordinary manual adjustment. You can switch the values of load to motor inertia ratio, position loop gain, model loop gain, speed loop gain, and speed integral compensation by switching the gain.
  • Page 173 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 174 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 175 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 →...
  • Page 176 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 177 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 178 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 179 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 failure using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL.
  • Page 180 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds [Pr.
  • Page 181 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs depending on how bus voltage decrease. (a) When the bus voltage decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply [AL.
  • Page 182 7. SPECIAL ADJUSTMENT FUNCTIONS (b) When the bus voltage does not decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply The operation continues without alarming. Instantaneous power failure time of the control circuit power supply ON (energization) Control circuit OFF (power failure)
  • Page 183 7. SPECIAL ADJUSTMENT FUNCTIONS 7.4 Compliance with SEMI-F47 standard POINT The control circuit power supply of the servo amplifier can be possible to comply with SEMI-F47 standard. However, a back-up capacitor may be necessary for instantaneous power failure in the main circuit power supply depending on the power supply impedance and operating situation.
  • Page 184 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Requirements of SEMI-F47 standard Table 7.1 shows the permissible time of instantaneous power failure for the instantaneous power failure voltage of the SEMI-F47 standard. Table 7.1 Requirements of SEMI-F47 standard Permissible time of Instantaneous power instantaneous power failure voltage failure [s]...
  • Page 185 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 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 186 7. SPECIAL ADJUSTMENT FUNCTIONS 7.6 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 187 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 188 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 189 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO 7 - 34...
  • Page 190 8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT This chapter explains the details of alarms and warnings specific to MR-JE-_BF. For other alarms and warnings, refer to MR-JE-_B described in "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)". As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power.
  • Page 191 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 192 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 193 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 194 8. TROUBLESHOOTING Stop Alarm deactivation Detail method Name Detail name Alarm Power (Note 2, reset reset cycling USB communication USB communication time-out error/ 8A.1 time-out error/serial serial communication time-out error communication time- out error/Modbus RTU Modbus RTU communication time- communication time- 8A.2 out error out error...
  • Page 195 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 overheat 91.1 Main circuit device overheat warning warning (Note 1) Encoder battery cable 92.1...
  • Page 196 8. TROUBLESHOOTING Stop Detail method Name Detail name (Note 2, Cooling fan speed Decreased cooling fan speed E8.1 reduction warning warning 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...
  • Page 197 8. TROUBLESHOOTING 8.4 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Otherwise, it may cause injury. If [AL. 25 Absolute position erased] occurs, set the home position again. CAUTION Otherwise, it may cause an unexpected operation.
  • Page 198 8. TROUBLESHOOTING Alarm No.: 10 Name: Undervoltage The voltage of the control circuit power supply has dropped. Alarm content The voltage of the main circuit power supply has dropped. Detail Detail name Cause Check method Check result Action Target 10.1 Voltage drop in (1) The control circuit Check the connection...
  • Page 199 8. TROUBLESHOOTING Alarm No.: 17 Name: Board error Alarm content A part in the servo amplifier is malfunctioning. Detail Detail name Cause Check method Check result Action Target 17.7 Board error 7 (1) The servo amplifier Disconnect the cables It is repeatable. Replace the servo [BF] recognition signal was...
  • Page 200 8. TROUBLESHOOTING 8.5 Remedies for warnings If [AL. E3 Absolute position counter warning] occurs, remove the cause of the CAUTION warning, and set the home position again. Otherwise, it may cause an unexpected operation. POINT This section explains the remedies for alarms specific to MR-JE-_BF. For other remedies, refer to MR-JE-_BF described in "MELSERVO-JE Servo amplifier Instruction Manual (Troubleshooting)".
  • Page 201 8. TROUBLESHOOTING Alarm No.: 95 Name: STO warning STO input signal turns off while the servo motor stops. Alarm content A diagnosis of input devices was not executed. The safety observation function was enabled in the test mode. Detail Detail name Cause Check method Check result...
  • Page 202 9. DIMENSIONS 9. DIMENSIONS 9.1 Servo amplifier (1) MR-JE-10BF to MR-JE-40BF [Unit: mm] φ6 mounting hole Approx. 80 Lock knob CNP1 CNP2 CNP3 (69.3) (38.5) With MR-BAT6V1SET Mass: 0.9 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx.
  • Page 203 9. DIMENSIONS (2) MR-JE-70BF/MR-JE-100BF [Unit: mm] φ6 mounting hole Lock knob Approx. 80 CNP1 CNP2 CNP3 (69.3) (38.5) With MR-BAT6V1SET Mass: 1.6 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 70 CNP2 CNP3 3-M5 screw 42 ±...
  • Page 204 9. DIMENSIONS (3) MR-JE-200BF/MR-JE-300BF [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust CNP1 CNP2 CNP3 Cooling fan intake (69.3) With MR-BAT6V1SET Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 CNP1 Tightening torque: 3.24 [N•m] Approx. 90 CNP2 CNP3 3-M5 screw Screw size: M4...
  • 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 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 10. CHARACTERISTICS 10.2 Power supply capacity and generated loss (1) Servo amplifier generated heat Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions.
  • 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 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 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 10. CHARACTERISTICS (2) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 10.2. 1000 2000 3000 4000 5000 6000 500 1000 1500 2000 2500 3000 Speed [r/min] Speed [r/min] HG-KN series HG-SN series 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.
  • Page 213 10. CHARACTERISTICS 10.4 Cable bending life The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 × 10 5 × 10 1 × 10 5 ×...
  • Page 214 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, be sure to look at the lamp from the front of the servo amplifier.
  • Page 215 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.1 Combinations of cable/connector sets Safety logic unit Personal Servo system MR-J3-D05 computer controller CN10 Servo Servo 2) 3) 4) amplifier amplifier 1) (packed with the servo amplifier) (Note) CNP1 (Note) CN1A CN1A CNP2 2) 3) 4) CN1B CN1B CNP3...
  • Page 216 11. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Remark Servo amplifier Supplied power connector with servo amplifiers of 1 kW or CNP1 Connector: CNP2 Connector: CNP3 Connector: less 03JFAT-SAYGDK-H7.5 05JFAT-SAXGDK-H5.0 03JFAT-SAXGDK-H7.5 (JST) (JST) (JST) Applicable wire size: 0.8 mm to 2.1 mm (AWG 18 to 14) Insulator OD: to 3.9 mm...
  • Page 217 11. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Remark STO cable MR-D05UDL3M-B Connector set: 2069250-1 Connection cable for (TE Connectivity) the CN8 connector Short-circuit Supplied connector with servo amplifier 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...
  • Page 218 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.3 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 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.4 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 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2 Regenerative option Do not use servo amplifiers with regenerative options other than the combinations CAUTION specified below. Otherwise, it may cause a fire. 11.2.1 Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. Regenerative power [W] Servo (Note)
  • Page 222 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 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Inverse Capacitor Inverse Capacitor Servo amplifier Servo amplifier efficiency [%]...
  • Page 224 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.4 Connection of regenerative option POINT When MR-RB50 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer. For the wire sizes used for wiring, refer to section 11.6. The regenerative option generates heat of 100 °C higher than the ambient temperature.
  • Page 225 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 226 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 227 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 228 JOG operation, positioning operation, motor-less operation, DO forced output, program Test operation operation, and test mode information Adjustment One-touch tuning, tuning, and machine analyzer Servo assistant, parameter setting range update, machine unit conversion setting, help display, Others and connecting to Mitsubishi Electric FA site 11 - 15...
  • Page 229 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 230 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Connection with servo amplifier Personal computer Servo amplifier USB cable To USB MR-J3USBCBL3M 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 231 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 232 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Battery mounting Connect as follows. Servo amplifier Encoder cable MR-BAT6V1SET Servo motor (3) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Otherwise, an electric shock may occur. WARNING In addition, when confirming whether the charge lamp is off or not, be sure to look at the lamp from the front of the servo amplifier.
  • Page 233 11. OPTIONS AND PERIPHERAL EQUIPMENT (a) Battery installation and removal procedure 1) Installation procedure POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier.
  • Page 234 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET reaches the end of its life, replace the MR-BAT6V1 battery in the MR- BAT6V1SET. 1) While pressing the locking part, open the cover. Cover Locking part 2) Replace the battery with a new MR-BAT6V1.
  • Page 235 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 236 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 Servo amplifier CN1A CN1B MR-BT6VCASE...
  • Page 237 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Battery replacement procedure Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off. Otherwise, an electric shock may occur. WARNING In addition, when confirming whether the charge lamp is off or not, be sure to look at the lamp from the front of the servo amplifier.
  • Page 238 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 239 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 240 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 241 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.5.4 MR-BAT6V1 battery The MR-BAT6V1 battery is a primary lithium battery for replacing 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 242 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.6 Selection example of wires POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for wiring. To comply with other standards, use a wire that is complied with each standard. Selection conditions of wire size are as follows.
  • Page 243 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 244 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) For control circuit power supply When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to protect the branch circuit.
  • Page 245 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Dimensions Terminal layout S Y T 4-d mounting hole (Varnish is removed from front right mounting hole (face and back side).) (Note 1) D or less Max. W (Note 2) Fig. 11.1 Dimensions [mm] Power factor Terminal Mass...
  • Page 246 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 247 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 248 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 249 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 250 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 251 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 252 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 Cable Mitsubishi Electric Noise filter Type products...
  • Page 253 11. OPTIONS AND PERIPHERAL EQUIPMENT Table 11.2 Servo motor leakage current example (lgm) Servo motor power [kW] Leakage current [mA] 0.1 to 1 1.5 to 2 Table 11.3 Servo amplifier leakage current example (Iga) Servo amplifier capacity [kW] Leakage current [mA] 0.1 to 0.4 0.75 to 3 0.15...
  • Page 254 11. OPTIONS AND PERIPHERAL EQUIPMENT 11.12 EMC filter (recommended) POINT For when multiple servo amplifiers are connected to one EMC filter, refer to section 6.4 of "EMC Installation Guidelines". It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current.
  • Page 255 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) Using 1-phase 200 V AC to 240 V AC power supply 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.) Note 1.
  • Page 256 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 257 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) Surge protector RSPD-250-U4 [Unit: mm] φ4.2 ± 0.5 Resin Lead Case 41 ± 1 11 - 44...
  • Page 258 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 259 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 260 12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Battery 12.2.1 Using the MR-BAT6V1SET 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...
  • Page 261 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 262 13. USING STO FUNCTION 13. USING STO FUNCTION POINT In the torque control mode, the forced stop deceleration function is not available. 13.1 Introduction This section provides the cautions of the STO function. 13.1.1 Summary This servo amplifier complies with the following safety standards. ISO/EN ISO 13849-1 Category 3 PL e IEC 61508 SIL 3 IEC/EN 61800-5-2...
  • Page 263 13.1.4 Residual risks of the STO function Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi Electric is not liable for any damages or injuries caused by these risks.
  • Page 264 13. USING STO FUNCTION 13.1.5 Specifications (1) Specifications Item Specifications Functional safety STO (IEC/EN 61800-5-2) ISO/EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, Safety performance (Note 2) EN 62061 SIL CL3, EN 61800-5-2 Mean time to dangerous failure MTTFd ≥...
  • Page 265 13. USING STO FUNCTION 13.1.6 Maintenance This servo amplifier has alarms and warnings for maintenance that supports the drive safety function. (Refer to chapter 8.) 13.2 STO I/O signal connector (CN8) and signal layouts 13.2.1 Signal layouts POINT The pin assignment of the connectors is as viewed from the cable connector wiring section.
  • Page 266 13. USING STO FUNCTION 13.2.2 Signal (device) explanations (1) I/O device Connector Signal name Description pin No. division STOCOM CN8-3 Common terminal for input signal of STO1 and STO2 DI-1 STO1 CN8-4 Inputs STO state 1. DI-1 STO state (base shut-off): Open between STO1 and STOCOM. STO release state (in driving): Close between STO1 and STOCOM.
  • Page 267 13. USING STO FUNCTION 13.3 Connection example POINT Turn off STO (STO1 and STO2) after the servo motor stops by the servo off state or with forced stop deceleration by turning off EM2 (Forced stop 2). Configure an external sequence that has the timings shown as below using an external device such as the MR-J3-D05 safety logic unit.
  • Page 268 13. USING STO FUNCTION 13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. 13 - 7...
  • Page 269 13. USING STO FUNCTION (1) Connection example 24 V (Note 2) (Note 2) RESA RESB MR-J3-D05 (Note 1) (Note 1) STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- Servo amplifier SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2...
  • Page 270 13. USING STO FUNCTION (2) Basic operation example The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1A and SDO2A of MR-J3-D05. The switch status of STOB is input to SDI2B+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1B and SDO2B of MR-J3-D05.
  • Page 271 13. USING STO FUNCTION 13.3.3 External I/O signal connection example using an external safety relay unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. This connection example complies with the requirement of ISO/EN ISO 13849-1 Category 3 PL d. For details, refer to the safety relay module user's manual.
  • Page 272 13. USING STO FUNCTION 13.4 Detailed description 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 13.2. Refer to this section and make connection with the external device. 13.4.1 Sink I/O interface (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is input terminal.
  • Page 273 13. USING STO FUNCTION (b) When outputting two STO states by using one TOFB Servo amplifier If polarity of diode is reversed, servo amplifier TOFB1 Load will malfunction. TOFCOM (Note) 24 V DC ± 10% 300 mA TOFB2 Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.
  • Page 274 13. USING STO FUNCTION 13.4.2 Source I/O interface In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
  • Page 275 13. USING STO FUNCTION MEMO 13 - 14...
  • Page 276 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 277 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 278 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 279 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 280 Use the MR-JE-_BF servo amplifiers within specifications. Refer to section 1.3 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 281 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. Table.
  • Page 282 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 (2006/42/EC, 2014/30/EU, 2014/35/EU, and 2011/65/EU). For the copy of Declaration of Conformity, contact your local sales office.
  • Page 283 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-_BF 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 284 APPENDIX App. 4.2.5 Residual risk (1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards. (2) Perform all risk assessments and safety level certification to the machine or the system as a whole. (3) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the servo motor may make a half revolution at a maximum.
  • Page 285 APPENDIX App. 4.3 Installation direction and clearances The devices must be installed in the specified direction. Not doing so may cause a malfunction. CAUTION Mount the servo amplifier on a cabinet which meets IP54 in the correct direction to maintain pollution degree 2. Cabinet Cabinet 40 mm...
  • Page 286 APPENDIX The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards. (1) 3-phase input Servo amplifier (3-phase MCCB L2 L3 230 V AC) or fuse Power (Note 1) supply MCCB Controller (3-phase or fuse 400 V AC) Encoder cable Transformer U/V/W/PE (star-connected)
  • Page 287 APPENDIX App. 4.5 Signals App. 4.5.1 Signal The following shows MR-JE-10BF signals as a typical example. For other servo amplifiers, refer to chapter STO I/O signal connector (Note) (Note) DOCOM STO1 STOCOM DICOM (Note) TOFB1 STO2 TOFB2 TOFCOM (Note) (Note) DICOM Note.
  • Page 288 APPENDIX App. 4.6 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. 4.6.1 Inspection items It is recommended that the following points periodically be checked. (1) Check for loose screws on the protective earth (PE) terminal.
  • Page 289 APPENDIX App. 4.7 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 app. 2 and 3. CAUTION Install the product in a load-bearing place of servo amplifier and servo motor in accordance with instruction manual.
  • Page 290 APPENDIX App. 4.8 Technical data App. 4.8.1 MR-JE-_BF servo amplifier MR-JE-10BF/MR-JE-20BF/MR-JE-40BF/ Item MR-JE-300BF MR-JE-70BF/MR-JE-100BF/MR-JE-200BF 3-phase or 1-phase 200 V AC to 240 V AC, Main circuit (line voltage) 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 50 Hz/60 Hz Power supply Control circuit (line voltage)
  • Page 291 Yes [ ], No [ ] Checking the items will not be instead of the first test operation or periodic inspection by professional engineers. 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.
  • Page 292 APPENDIX App. 6 EC declaration of conformity The MR-JE-_BF servo amplifiers and MR-J3-D05 safety logic unit complies with the safety component laid down in the Machinery directive. App. - 17...
  • Page 293 APPENDIX App. - 18...
  • Page 294 APPENDIX App. 7 When turning on or off the input power supply with DC power supply App. 7.1 Connection example For the signals or wiring that are not described in this section, refer to section 3.1. (1) When not using ALM (Malfunction) (Note 8) Alarm Emergency stop switch...
  • Page 295 APPENDIX (2) When using ALM (Malfunction) Malfunction Emergency stop switch Servo amplifier 24 V DC (Note 7,8) MCCB MC (Note 3) (Note 1) 3-phase 200 V AC to 240 V AC (Note 4) Main circuit 24 V DC (Note 6) power supply (Note 2) DOCOM...
  • Page 296 APPENDIX App. 8 MR-J3-D05 Safety logic unit App. 8.1 Contents of the package Open packing, and confirm the content of packing. Contents Quantity MR-J3-D05 Safety logic unit Connector for CN9 1-1871940-4 (TE Connectivity) Connector for CN10 1-1871940-8 (TE Connectivity) MR-J3-D05 Safety Logic Unit Installation Guide App.
  • Page 297 App. 8.4 Residual risk Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are residual risks associated with the STO/EMG function. Mitsubishi Electric is not liable for any damages or injuries caused by the residual risks.
  • Page 298 APPENDIX (7) Perform all risk assessments and safety level certification to the machine or the system as a whole. It is recommended that a Certification Body final safety certification of the system be used. (8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as deemed necessary by the applicable safety standard.
  • Page 299 APPENDIX App. 8.7.2 Specifications Safety logic unit model MR-J3-D05 Voltage 24 V DC Permissible Control circuit 24 V DC ± 10% voltage fluctuation power supply Power supply 0.5 (Note 1, 2) capacity Compatible system 2 systems (A-axis, B-axis independent) Shut-off input 4 points (2 point ×...
  • Page 300 APPENDIX App. 8.7.3 When using MR-J3-D05 with an MR-JE-_BF servo amplifier (1) System configuration diagram The following shows the connection targets of the STO switch and STO release switch. POINT MR-D05UDL_M (STO cable) for MR-J3 series cannot be used. MR-J3-D05 MR-JE-_BF Power Magnetic...
  • Page 301 APPENDIX (2) Connection example 24 V DC (Note 2) (Note 2) RESA RESB MR-J3-D05 (Note 1) (Note 1) STOA STOB (A-axis) (B-axis) SDI1A+ SDI1A- MR-JE-_BF SDO1A+ Control circuit SDO1A- CN8A STO1 STO2 CN10 SDI2A+ STOCOM SDI2A- TOFB1 SRESA+ SRESA- TOFB2 SDO2A+ TOFCOM SDO2A-...
  • Page 302 APPENDIX App. 8.8 Signal App. 8.8.1 Connector/pin assignment (1) CN8A Device Symbol Pin No. Function/application division A-axis STO1 STO1A- Outputs STO1 to A-axis driving device. STO1A+ Outputs the same signal as A-axis STO2. STO state (base shutdown): Between STO1A+ and STO1A- is opened. STO release state (in driving): Between STO1A+ and STO1A- is closed.
  • Page 303 APPENDIX (4) CN10 Device Symbol Function/application division A-axis SDI2A+ Connect this device to a safety switch for A-axis driving device. DI-1 shutdown 2 SDI2A- Input the same signal as A-axis shutdown 1. STO state (base shutdown): Open between SDI2A+ and SDI2A-. STO release state (in driving): Close between SDI2A+ and SDI2A-.
  • Page 304 APPENDIX (b) Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal. A lamp, relay or photocoupler can be driven.
  • Page 305 APPENDIX App. 8.8.3 Wiring CN9 and CN10 connectors Handle with the tool with care when connecting wires. (1) Wire strip (a) Use wires with size of AWG 24 to 20 (0.22 mm to 0.5 mm ) (recommended electric wire: UL1007) and strip the wires to make the stripped length 7.0 mm ±...
  • Page 306 APPENDIX 2) Connecting wires a) Confirm the model number of the housing, contact and tool to be used. b) Insert the tool diagonally into the receptacle assembly. c) Insert the tool until it hits the surface of the receptacle assembly. At this stage, the tool is vertical to the receptacle assembly.
  • Page 307 APPENDIX (b) Using a screwdriver To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force. Be cautious when connecting. 1) Adjusting screw driver Diameter: 2.3 mm ± 0.05 mm Diameter: 2.5 mm ± 0.05 mm Length: 120 mm or less Length: 120 mm or less Width: 2.3 mm...
  • Page 308 APPENDIX (3) Connector insertion Insert the connector all the way straight until you hear or feel clicking. When removing the connector, depress the lock part completely before pulling out. If the connector is pulled out without depressing the lock part completely, the housing, contact and/or wires may be damaged. (4) Compatible wire Compatible wire size is listed below.
  • Page 309 APPENDIX App. 8.9 LED display I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis. Definition MR-J3-D05 Column A Column B Monitor LED for start/reset SRES SRES Off: The start/reset is off. (The switch contact is opened.) SDI1 SDI2 On: The start/reset is on.
  • Page 310 APPENDIX App. 8.11 Troubleshooting When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate action. Event Definition Cause Action Power is not supplied. Power LED does not turn on 1. 24 V DC power supply is Replace the 24 V DC power supply.
  • Page 311 APPENDIX App. 8.12 Dimensions [Unit: mm] 22.5 19.5 Approx. 22.5 Approx. 80 9.75 5 mounting hole Rating plate 9.75 2-M4 screw Mounting hole process drawing Mounting screw Pin assignment CN8A CN8B Screw size: M4 Tightening torque: 1.2 N•m TOF2A TOF1A TOF2B TOF1B STO2A- STO2A+...
  • Page 312 APPENDIX App. 8.13 Installation Follow the instructions in this section and install MR-J3-D05 in the specified direction. Leave clearances between MR-J3-D05 and other equipment including the cabinet. Cabinet Cabinet Cabinet 100 mm or longer 40 mm or 80 mm or longer 10 mm or longer for wiring...
  • Page 313 APPENDIX App. 8.14 Combinations of cable/connector POINT MR-D05UDL_M (STO cable) for MR-J3 series cannot be used. MR-JE-_BF MR-J3-D05 MR-JE-_BF CN10 MR-J3-D05 attachment connector Product Model Description Connector MR-J3-D05 attachment connector Connector for CN9: 1-1871940-4 Connector for CN10: 1-1871940-8 (TE Connectivity) (TE Connectivity) STO cable MR-D05UDL3M-B...
  • Page 314 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 315 APPENDIX 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 Do not input a 3-phase 400 V AC class power supply directly to the 200 V class servo amplifier.
  • Page 316 APPENDIX (2) When using ALM (Malfunction) Malfunction Emergency stop switch Do not connect anything. Servo amplifier 3-phase MCCB CNP1 400 V AC class Neutral 200 V AC to 240 V AC (Note) point Do not connect anything. Note If necessary, use a step-down transformer to decrease the power supply voltage to 200 V AC to 240 V AC.
  • Page 317 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 318 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 319 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 320 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 321 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 322 MODEL MODEL CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030258ENG-B(1708)MEE Printed in Japan Specifications are subject to change without notice.

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