Page 1 General-Purpose AC Servo General-Purpose Interface AC Servo MODEL MR-JE-_A 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 turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the lead wire of the regenerative resistor when transporting the servo amplifier.
Page 5 (2) Wiring CAUTION Before removing the CNP1 connector of MR-JE-40A to MR-JE-100A, disconnect the lead wires of the regenerative resistor from the CNP1 connector. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. 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. Do not disassemble, repair, or modify the equipment. Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart.
Page 7 (7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual. DISPOSAL OF WASTE Please dispose a servo amplifier and other options according to your local laws and regulations.
Page 8 «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 9 MEMO A - 8...
Page 10: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-14 1.1 Summary ............................1- 1 1.2 Function block diagram ........................1- 2 1.3 Servo amplifier standard specifications .................... 1- 4 1.4 Combinations of servo amplifiers and servo motors ................ 1- 6 1.5 Function list ............................
Page 11 3.9 Interfaces ............................3-52 3.9.1 Internal connection diagram ...................... 3-52 3.9.2 Detailed explanation of interfaces ..................... 3-54 3.9.3 Source I/O interfaces ........................ 3-58 3.10 Servo motor with an electromagnetic brake .................. 3-60 3.10.1 Safety precautions ........................3-60 3.10.2 Timing chart ..........................3-62 3.11 Grounding ............................
Page 12 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ................5- 2 5.1.3 Extension setting parameters ([Pr. PC_ _ ]) ................5- 3 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ..................5- 5 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ................5- 6 5.1.6 Extension setting 3 parameters ([Pr.
Page 13 11.9 Noise reduction techniques ......................11-22 11.10 Earth-leakage current breaker ....................11-28 11.11 EMC filter (recommended) ......................11-30 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12- 1 to 12-34 12.1 Structure ............................12- 1 12.1.1 Configuration diagram ......................12- 1 12.1.2 Precautions for using RS422/USB communication function ..........
Page 14 12.2.2 Parameter setting ........................12- 3 12.3 Protocol ............................12- 4 12.3.1 Transmission data configuration .................... 12- 4 12.3.2 Character codes ........................12- 5 12.3.3 Error codes ..........................12- 6 12.3.4 Checksum ..........................12- 6 12.3.5 Time-out processing....................... 12- 6 12.3.6 Retry processing ........................
Page 15 MEMO...
Page 16: Functions And Configuration
1. FUNCTIONS AND CONFIGURATION 1.1 Summary The Mitsubishi general-purpose AC servo MELSERVO-JE series have limited functions with keeping high performance based on MELSERVO-J4 series. The servo amplifier has position, speed, and torque control modes. In the position control mode, the maximum pulse train of 4 Mpulses/s is supported.
Page 17: Function Block Diagram
Malfunction, etc. RS-485 Note 1. The built-in regenerative resistor is not provided for MR-JE-10A and MR-JE-20A. 2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.
Page 18 1. FUNCTIONS AND CONFIGURATION (2) MR-JE-200A or more Regenerative option Servo motor N- (Note 2) Diode Dynamic stack brake circuit Relay MCCB (Note 1) Current Power encoder Regene- supply rative CHARGE lamp Cooling fan Electromagnetic 24 V DC brake Control circuit Base Voltage...
Page 19: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications Model: MR-JE- 100A 200A 300A Rated voltage 3-phase 170 V AC Output Rated current 11.0 11.0 3-phase 3-phase or 1-phase 3-phase or 1-phase 200 V AC to 240 V AC, 50 200 V AC to Voltage/Frequency 200 V AC to 240 V AC,...
Page 20 1. FUNCTIONS AND CONFIGURATION Model: MR-JE- 100A 200A 300A Operation 0 °C to 55 °C (non-freezing) Ambient temperature Storage -20 °C to 65 °C (non-freezing) Operation Ambient 90 %RH or less (non-condensing) humidity Storage Environment Indoors (no direct sunlight), Ambience free from corrosive gas, flammable gas, oil mist, dust, and dirt Altitude 1000 m or less above sea level...
Page 21: Combinations Of Servo Amplifiers And Servo Motors
1. FUNCTIONS AND CONFIGURATION 1.4 Combinations of servo amplifiers and servo motors Servo amplifier Servo motor MR-JE-10A HG-KN13_ MR-JE-20A HG-KN23_ MR-JE-40A HG-KN43_ MR-JE-70A HG-KN73_ HG-SN52_ MR-JE-100A HG-SN102_ MR-JE-200A HG-SN152_ HG-SN202_ MR-JE-300A HG-SN302_ 1 - 6...
Page 22: Function List
1. FUNCTIONS AND CONFIGURATION 1.5 Function list The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field. Detailed Function Description explanation This function achieves a high response and stable control following the ideal model. The two-degree-of-freedom-model model adaptive control enables you to set a response to the command and response to the disturbance separately.
Page 23 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation Output signal selection The output devices including MBR (Electromagnetic brake interlock) can be assigned [Pr. PD24] to (device settings) to certain pins of the CN1 connector. [Pr. PD28] Output signal (DO) forced Output signal can be forced on/off independently of the servo status.
Page 24: Model Designation
1.6 Model designation (1) Rating plate The following shows an example of rating plate for explanation of each item. AC SERVO Serial number SER. S4Y001001 Model MR-JE-10A Capacity POWER : 100W Applicable power supply INPUT : 3AC/200-240V 0.9A/1.5A 50/60Hz Rated output current OUTPUT : 3PH170V 0-360Hz 1.1A...
Page 25: Structure
1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-JE-100A or less Detailed Name/Application explanati Display Section The 5-digit, 7-segment LED shows the servo status and the alarm number. Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and "SET"...
Page 26 1. FUNCTIONS AND CONFIGURATION (2) MR-JE-200A or more Detailed Name/Application explanati Display Section The 5-digit, 7-segment LED shows the servo status and the alarm number. Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and "SET"...
Page 27: Configuration Including Peripheral Equipment
1. FUNCTIONS AND CONFIGURATION 1.8 Configuration including peripheral equipment Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo CAUTION amplifier may cause a malfunction. POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
Page 28 1. FUNCTIONS AND CONFIGURATION (2) MR-JE-200A or more The diagram shows MR-JE-200A. R S T (Note 1) Power supply Molded-case circuit breaker Personal computer MR Configurator2 (Note 2) Magnetic contactor (MC) Power factor improving AC reactor (FR-HAL) Line noise filter (FR-BSF01) Junction terminal block Servo motor...
Page 29 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 14...
Page 30: Installation
2. INSTALLATION 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. Stacking in excess of the specified number of product packages is not allowed. Do not hold the lead wire of the regenerative resistor when transporting the servo amplifier.
Page 31: Installation Direction And Clearances
2. INSTALLATION 2.1 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction. CAUTION Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction. MR-JE-40A to MR-JE-100A have a regenerative resistor on their back face.
Page 32: Keep Out Foreign Materials
2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo amplifier. Refer to section 1.3 for availability of close mounting. Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.
Page 33: Encoder Cable Stress
2. INSTALLATION 2.3 Encoder cable stress (1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part.
Page 34: Parts Having Service Lives
2. INSTALLATION 2.5 Parts having service lives Service lives of the following parts are listed below. However, the service life vary depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives.
Page 35 2. INSTALLATION MEMO 2 - 6...
Page 36: Signals And Wiring
3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 37: Input Power Supply Circuit
3. SIGNALS AND WIRING 3.1 Input power supply circuit Always connect a magnetic contactor between the power supply and the power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.
Page 38 3. SIGNALS AND WIRING (1) For 3-phase 200 V AC to 240 V AC power supply of MR-JE-10A to MR-JE-100A EMG stop switch Malfunction Servo amplifier Servo motor (Note 5) MCCB CNP1 3-phase (Note 4, 7) Built-in 200 V AC to...
Page 39 3. SIGNALS AND WIRING (2) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-10A to MR-JE-100A POINT Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-JE-200A Servo Amplifier's.
Page 40 3. SIGNALS AND WIRING (3) For 3-phase 200 V AC to 240 V AC power supply of MR-JE-200A or MR-JE-300A EMG stop switch Malfunction Servo amplifier Servo motor (Note 5) MCCB CNP1 3-phase CNP2 (Note 4, 7) 200 V AC to Motor 240 V AC (Note 1)
Page 41 3. SIGNALS AND WIRING (4) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-200A POINT Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L2. One of the connecting destinations is different from MR-JE-100A or less Servo Amplifier's.
Page 42: I/O Signal Connection Example
3. SIGNALS AND WIRING 3.2 I/O signal connection example 3.2.1 Position control mode (1) When you use a positioning module RD75D (a) For sink I/O interface Servo amplifier 24 V DC (Note 4) (Note 7) Positioning module 24 V DC (Note 4) RD75D (Note 7) DOCOM...
Page 43 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) 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 44 3. SIGNALS AND WIRING (b) For source I/O interface POINT For notes, refer to (1) (a) in this section. Servo amplifier 24 V DC (Note 4, 12) (Note 7) Positioning module 24 V DC (Note 4, 12) RD75D (Note 7) DOCOM (Note 2) DICOM...
Page 45 3. SIGNALS AND WIRING (2) When you use a positioning module FX -_ _MT/ES (For sink I/O interface) 2 m or less (Note 8) Programmable controller -_ _MT/ES (Note 11) 24 V Servo amplifier (Note 7) (Note 7) 24 V DC 24 V DC (Note 4) Programmable (Note 4)
Page 46 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) 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 47: Speed Control Mode
3. SIGNALS AND WIRING 3.2.2 Speed control mode (1) For sink I/O interface Servo amplifier (Note 7) 24 V DC (Note 4) DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 6) (Note 7) (Note 10) Power supply Zero speed detection (Note 3, 5) Forced stop 2 Servo-on...
Page 48 3. SIGNALS AND WIRING (2) For source I/O interface POINT For notes, refer to (1) in this section. Servo amplifier (Note 7) 24 V DC (Note 4, 11) DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 6) (Note 7) (Note 10) Power supply Zero speed detection...
Page 49: Torque Control Mode
3. SIGNALS AND WIRING 3.2.3 Torque control mode POINT EM2 has the same function as EM1 in the torque control mode. (1) For sink I/O interface Servo amplifier (Note 6) 24 V DC (Note 4) DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 6) (Note 6) (Note 8)
Page 50 3. SIGNALS AND WIRING (2) For source I/O interface POINT For notes, refer to (1) in this section. Servo amplifier (Note 6) 24 V DC (Note 4, 9) DOCOM DOCOM (Note 2) 10 m or less Malfunction (Note 5) (Note 6) (Note 8) Power supply Zero speed detection...
Page 51: Explanation Of Power Supply System
MR-JE-10A to MR-JE-100A do not have D. When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factory-wired) MR-JE-10A and MR-JE-20A do not have a built-in regenerative resistor. When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative...
Page 52: Power-On Sequence
3. SIGNALS AND WIRING 3.3.2 Power-on sequence POINT The voltage of analog monitor output, output signal, etc. may be unstable at power-on. (1) Power-on procedure 1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the power supply (L1/L2/L3).
Page 53: Wiring Cnp1 And Cnp2
For the wire sizes used for wiring, refer to section 11.5. To wire to CNP1 and CNP2, use servo amplifier power connectors packed with the amplifier or optional connectors (refer to section 11.1.1). (1) Connector (a) MR-JE-10A to MR-JE-100A Servo amplifier CNP1 Table 3.1 Connector and applicable wire...
Page 54 Ferrule model (Phoenix Contact) Crimp terminal Servo amplifier Wire size For one For two (Phoenix Contact) AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK MR-JE-10A to MR-JE-100A AWG 14 AI2.5-10BU AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK CRIMPFOX-ZA3 MR-JE-200A to AWG 14 AI2.5-10BU AI-TWIN2×2.5-10BU...
Page 55: Connectors And Pin Assignment
3. SIGNALS AND WIRING 3.4 Connectors and pin assignment POINT The pin assignment of the connectors are as viewed from the cable connector wiring section. For the CN1 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Screw Cable Screw...
Page 56 3. SIGNALS AND WIRING The device assignment of CN1 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices will be changed using those parameters. (Note 2) I/O signals in control modes (Note 1) Pin No.
Page 57 3. SIGNALS AND WIRING (Note 2) I/O signals in control modes (Note 1) Pin No. Related parameter DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM Pr. PD28 Note 1. I: input signal, O: output signal 2. P: position control mode, S: speed control mode, T: torque control mode, P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position control switching mode 3.
Page 58: Signal (Device) Explanations
3. SIGNALS AND WIRING 3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. In the control mode field of the table P: position control mode, S: speed control mode, T: torque control mode Torque control mode : devices used with initial setting status, : devices used by setting [Pr.
Page 59 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Forward rotation CN1-43 To start operation, turn on LSP and LSN. Turn it off to bring the motor to a DI-1 stroke sudden stop and make it servo-locked. Setting [Pr.
Page 60 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Forward rotation Select a servo motor torque generation directions. DI-1 selection The following shows the torque generation directions. (Note) Input device Torque generation direction Torque is not generated. Reverse rotation Forward rotation in power selection...
Page 61 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Proportion Turn PC on to switch the speed amplifier from the proportional integral type DI-1 control to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.
Page 62 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Control switching «Position/speed control switching mode» DI-1 Refer to Function This is used to select the control mode in the position/speed control switching mode. application. (Note) Control mode...
Page 63 3. SIGNALS AND WIRING (b) Output device Control Connector mode Device Symbol Function and application pin No. division Malfunction CN1-48 When an alarm occurs, ALM will turn off. DO-1 When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after power-on.
Page 64 3. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division Alarm code ACD0 (CN1-24) To use these signals, set " _ _ _ 1" in [Pr. PD34]. DI-1 This signal is outputted when an alarm occurs. When an alarm is not occurring, respective ordinary signals are outputted.
Page 65 3. SIGNALS AND WIRING (3) Output signal Control Connector mode Device Symbol Function and application pin No. division Encoder A- CN1-4 These devices output pulses of encoder output pulse set in [Pr. PA15] in DO-2 phase pulse the differential line driver type. CN1-5 (differential line In CCW rotation of the servo motor, the encoder B-phase pulse lags the...
Page 66: Detailed Explanation Of Signals
3. SIGNALS AND WIRING 3.6 Detailed explanation of signals 3.6.1 Position control mode POINT Adjust the logic of a positioning module and command pulse as follows. MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series positioning module Command pulse logic setting Signal type Positioning module MR-JE-_A servo amplifier Pr.
Page 67 3. SIGNALS AND WIRING The following section explains about the case where the negative logic and the forward/reverse rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13]. (ON) (ON) (ON) (OFF) (OFF) (OFF) Forward rotation pulse train (transistor) Reverse rotation pulse train (OFF)
Page 68 3. SIGNALS AND WIRING (2) INP (In-position) INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position range ([Pr. PA10]). INP may turn on continuously during a low-speed operation with a large value set as the in-position range.
Page 69 3. SIGNALS AND WIRING (5) Torque limit If the torque limit is canceled during servo-lock, the servo motor may suddenly CAUTION rotate according to position deviation in respect to the command position. (a) Torque limit and torque By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is always limited to the maximum value during operation.
Page 70 3. SIGNALS AND WIRING (Note) Input device Enabled torque limit value Limit value status CCW power running/CW CW power running/CCW regeneration regeneration Pr. PA11 Pr .PA12 Pr. PA11 > Pr. PA11 Pr. PA12 Pr. PA12 Pr. PA11 < Pr. PA12 Pr.
Page 71: Speed Control Mode
3. SIGNALS AND WIRING 3.6.2 Speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of VC (Analog speed command). A relation between VC (Analog speed command) applied voltage and the servo motor speed is as follows.
Page 72 3. SIGNALS AND WIRING (b) Speed command value selection To select VC (Analog speed command) and a speed command value of internal speed commands 1 to 7, enable SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with [Pr.
Page 73: Torque Control Mode
3. SIGNALS AND WIRING 3.6.3 Torque control mode (1) Torque limit (a) Torque command and torque The following shows a relation between the applied voltage of TC (Analog torque command) and the torque by the servo motor. The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13]. CCW direction Forward rotation Maximum torque...
Page 74 3. SIGNALS AND WIRING (b) Analog torque command offset Using [Pr. PC38], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage as follows. Maximum torque Torque [Pr. PC38] offset range -9999 mV to 9999 mV 8 (-8) TC applied voltage [V] (2) Torque limit...
Page 75 3. SIGNALS AND WIRING Normally, connect as follows. Servo amplifier -10 V to +10 V (b) Speed limit value selection To select VLA (Analog speed limit) and a speed limit value of internal speed limit 1 to 7, enable SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with [Pr.
Page 76: Position/Speed Control Switching Mode
3. SIGNALS AND WIRING 3.6.4 Position/speed control switching mode Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode. (1) LOP (control switching) Use LOP (Control switching) to switch between the position control mode and the speed control mode with an external contact.
Page 77 3. SIGNALS AND WIRING (3) Speed setting in speed control mode (a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same as section 3.6.2 (1) (a).
Page 78: Speed/Torque Control Switching Mode
3. SIGNALS AND WIRING 3.6.5 Speed/torque control switching mode Set " _ _ _ 3" in [Pr. PA01] to switch to the speed/torque control switching mode. (1) LOP (control switching) Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact.
Page 79 3. SIGNALS AND WIRING Normally, connect as follows. Servo amplifier -10 V to +10 V (b) Speed limit value selection To select VLA (Analog speed limit) and a speed limit value of internal speed limit 1 to 7, enable SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with [Pr.
Page 80: Torque/Position Control Switching Mode
3. SIGNALS AND WIRING 3.6.6 Torque/position control switching mode Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode. (1) LOP (control switching) Use LOP (Control switching) to switch between the torque control mode and the position control mode with an external contact.
Page 81: Forced Stop Deceleration Function
3. SIGNALS AND WIRING 3.7 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration can not be guaranteed. (Refer to chapter 8.) In the torque control mode, the forced stop deceleration function is not available. 3.7.1 Forced stop deceleration function When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.
Page 82 3. SIGNALS AND WIRING (2) Timing chart POINT When LSP/LSN is turned on during a forced stop deceleration, the motor will stop depending on the setting of [Pr. PD30] as follows. [Pr. PD30] Stop system _ _ _ 0 Switching to sudden stop _ _ _ 1 Continuing forced stop deceleration When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr.
Page 83: Base Circuit Shut-Off Delay Time Function
3. SIGNALS AND WIRING 3.7.2 Base circuit shut-off delay time function The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop (EM2 goes off) or alarm occurrence due to delay time of the electromagnetic brake. Use [Pr. PC16] to set the delay time between completion of EM2 (Forced stop 2) or activation of MBR (Electromagnetic brake interlock) due to an alarm occurrence, and shut-off of the base circuit.
Page 84: Vertical Axis Freefall Prevention Function
3. SIGNALS AND WIRING 3.7.3 Vertical axis freefall prevention function The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the following case. When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the base circuit shut-off delay time function avoid dropping axis at forced stop.
Page 85: Alarm Occurrence Timing Chart
3. SIGNALS AND WIRING 3.8 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 is not available. To deactivate an alarm, cycle the power, push the "SET"...
Page 86: When You Do Not Use The Forced Stop Deceleration Function
3. SIGNALS AND WIRING (2) When the forced stop deceleration function is not enabled Alarm occurrence Braking by the dynamic brake Dynamic brake + Braking by the electromagnetic brake Servo motor speed 0 r/min Base circuit (Energy supply to the servo motor) Servo amplifier No alarm Alarm No.
Page 87: Interfaces
3. SIGNALS AND WIRING 3.9 Interfaces 3.9.1 Internal connection diagram The following diagram is for sink I/O interface when command pulse train input is differential line driver type. Servo amplifier (Note 1) (Note 4) 24 V DC (Note 1) DOCOM Approx.
Page 88 3. SIGNALS AND WIRING Note 1. P: position control mode, S: speed control mode, T: torque control mode 2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows. DOCOM DOCOM 24 V DC 24 V DC DICOM...
Page 89: Detailed Explanation Of Interfaces
3. SIGNALS AND WIRING 3.9.2 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 input terminal.
Page 90 3. SIGNALS AND WIRING (3) Pulse train input interface DI-2 Give a pulse train signal in the differential line driver type or open-collector type. (a) Differential line driver type 1) Interface Servo amplifier Max. input pulse frequency 4 Mpulses/s (Note 2) 10 m or less PP (NP) Approximalely...
Page 91 3. SIGNALS AND WIRING 2) Input pulse condition tLH = tHL < 0.2 µs tc > 2 µs tF > 3 µs (4) Encoder output pulse DO-2 (a) Open-collector type Interface Maximum sink current: 35 mA 5 V DC to 24 V DC Servo amplifier Servo amplifier Photocoupler...
Page 92 3. SIGNALS AND WIRING 2) Output pulse Servo motor CCW rotation Time cycle (T) is determined by the settings of [Pr. PA15] and [Pr. PC19]. 400 s or more (5) Analog input Input impedance 10 kΩ to 12 kΩ Servo amplifier VC etc.
Page 93: Source I/O Interfaces
3. SIGNALS AND WIRING 3.9.3 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 whose photocoupler anode side is the input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
Page 94 3. SIGNALS AND WIRING (3) Pulse train input interface DI-2 Give a pulse train signal in the open-collector type. 1) Interface Servo amplifier Maximum input pulse frequency 200 kpulses/s (Note) Approximately 20 mA ≤ 1.0 V Approximately ≤ 1.2 kΩ (Note) Approximately 20 mA...
Page 95: Servo Motor With An Electromagnetic Brake
3. SIGNALS AND WIRING 3.10 Servo motor with an electromagnetic brake 3.10.1 Safety precautions Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. Contacts must be opened when ALM (Malfunction) Contacts must be opened with the or MBR (Electromagnetic brake interlock) turns off.
Page 96 3. SIGNALS AND WIRING (1) Connection diagram Servo amplifier Servo motor (Note 2) (Malfaunction) 24 V DC DOCOM (Note 1) 24 V DC Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch. 2.
Page 97: Timing Chart
3. SIGNALS AND WIRING 3.10.2 Timing chart (1) When you use the forced stop deceleration function POINT To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04]. (a) SON (Servo-on) on/off When SON (Servo-on) is turned off, the servo lock will be released after Tb [ms], and the servo motor will coast.
Page 98 3. SIGNALS AND WIRING (b) Forced stop 2 on/off POINT In the torque control mode, the forced stop deceleration function is not available. (Note 2) Model speed command 0 and equal to or less than zero speed Servo motor speed 0 r/min Base circuit (Energy supply to...
Page 99 3. SIGNALS AND WIRING (2) When you do not use the forced stop deceleration function POINT To disable the function, set "0 _ _ _" in [Pr. PA04]. (a) SON (Servo-on) on/off It is the same as (1) (a) in this section. (b) EM1 (Forced stop 1) on/off Dynamic brake Dynamic brake...
Page 100: Grounding
3. SIGNALS AND WIRING 3.11 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) 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 101 3. SIGNALS AND WIRING MEMO 3 - 66...
Page 102: Startup
4. STARTUP 4. STARTUP Do not operate the switches with wet hands. Otherwise, it may cause an electric WARNING shock. Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly. The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot CAUTION while power is on or for some time after power-off.
Page 103: Wiring Check
4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the power supply, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1, L2, and L3) of the servo amplifier should satisfy the defined specifications.
Page 104: Surrounding Environment
4. STARTUP (2) I/O signal wiring (a) The I/O signals should be connected correctly. Use DO forced output to forcibly turn on/off the pins of the CN1 connector. This function can be used to perform a wiring check. Switch off SON (Servo-on) to enable the function. Refer to section 3.2 for details of I/O signal connection.
Page 105: Startup In Position Control Mode
4. STARTUP 4.2 Startup in position control mode Make a startup in accordance with section 4.1. This section provides descriptions specific to the position control mode. 4.2.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off SON (Servo-on).
Page 106: Test Operation
4. STARTUP 4.2.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2.1 for how to power on and off the servo amplifier. Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate alone in JOG operation of test normally.
Page 107: Parameter Setting
4. STARTUP 4.2.4 Parameter setting POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H...
Page 108: Trouble At Start-Up
4. STARTUP 4.2.6 Trouble at start-up Never make a drastic adjustment or change to the parameter values as doing so CAUTION will make the operation unstable. POINT Using the optional MR Configurator2, you can refer to reason for rotation failure, etc.
Page 109 4. STARTUP (2) How to find the cause of position shift Controller Servo amplifier Machine (a) Output pulse Servo motor counter Electronic gear [Pr.PA05], [Pr.PA06], (d) Machine stop position M [Pr.PA07], [Pr.PA21] (b) Cumulative command pulses Cause B Cause A SON (Servo-on) input LSP/LSN (Stroke end) input Encoder...
Page 110: Startup In Speed Control Mode
4. STARTUP 2) When P • ≠ C During operation, SON (Servo-on), LSP (Forward rotation stroke end), or LSN (Reverse rotation stroke end) was switched off; or CR (Clear) or RES (Reset) was switched on. (Cause C) 3) When C • ∆ℓ ≠ M Mechanical slip occurred between the servo motor and machine.
Page 111: Test Operation
4. STARTUP 4.3.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.3.1 for how to power on and off the servo amplifier. Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate alone in JOG operation of test normally.
Page 112: Parameter Setting
4. STARTUP 4.3.4 Parameter setting POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H...
Page 113: Actual Operation
4. STARTUP 4.3.5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. 4.3.6 Trouble at start-up Never make a drastic adjustment or change to the parameter values as doing so CAUTION will make the operation unstable.
Page 114: Startup In Torque Control Mode
4. STARTUP Start-up sequence Fault Investigation Possible cause Reference Gain adjustment Rotation ripples (speed Make gain adjustment in the Gain adjustment fault Chapter fluctuations) are large following procedure. at low speed. 1. Increase the auto tuning response level. 2. Repeat acceleration and deceleration three times to complete auto tuning.
Page 115: Test Operation
4. STARTUP 4.4.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.4.1 for how to power on and off the servo amplifier. Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate alone in JOG operation of test normally.
Page 116: Parameter Setting
4. STARTUP 4.4.4 Parameter setting POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H...
Page 117: Trouble At Start-Up
4. STARTUP 4.4.6 Trouble at start-up Never make a drastic adjustment or change to the parameter values as doing so CAUTION will make the motion unstable. POINT Using the optional MR Configurator2, you can refer to reason for rotation failure, etc.
Page 118: Display And Operation Sections
4. STARTUP 4.5 Display and operation sections 4.5.1 Summary The MR-JE-A servo amplifier has the display section (5-digit, 7-segment LED) and operation section (4 pushbuttons) for servo amplifier status display, alarm display, parameter setting, etc. Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode. The operation section and display data are described below.
Page 119: Display Flowchart
4. STARTUP 4.5.2 Display flowchart Press the "MODE" button once to shift to the next display mode. Refer to section 4.5.3 and later for the description of the corresponding display mode. To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters, enable them with [Pr.
Page 120: Status Display Mode
4. STARTUP 4.5.3 Status display mode The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears after the symbol of the status display selected in [Pr.
Page 121 4. STARTUP (2) Display examples The following table shows the display examples. Displayed data Item Status Servo amplifier display Forward rotation at 2500 r/min Servo motor speed Reverse rotation at 3000 r/min Reverse rotation is indicated by "- ". Load to motor inertia ratio 7.00 times 11252 pulses Cumulative feedback pulses...
Page 122 4. STARTUP (3) Status display list The following table lists the servo statuses that may be shown. Refer to appendix 5 for the measurement point. Status display Symbol Unit Description Feedback pulses from the servo motor encoder are counted and displayed. The values in excess of ±99999 can be counted.
Page 123 4. STARTUP Status display Symbol Unit Description Bus voltage The voltage of main circuit converter (between P+ and N-) is displayed. Encoder inside temperature °C Inside temperature of encoder detected by the encoder is displayed. Settling time Settling time is displayed. When it exceeds 1000 ms, "1000" will be displayed. Oscillation detection Frequency at the time of oscillation detection is displayed.
Page 124: Diagnostic Mode
4. STARTUP 4.5.4 Diagnostic mode Name Display Description Not ready Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Drive recorder enabled When an alarm occurs in the status, the drive recorder will operate and write the status of...
Page 125 4. STARTUP Name Display Description Indicates the version of the software. Software version - Lower Indicates the system number of the software. Software version - Upper If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at VC (Analog speed command) or VLA (Analog speed limit) of 0...
Page 126: Alarm Mode
4. STARTUP 4.5.5 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 3 digits on the display indicate the alarm number that has occurred or the parameter number in error. Name Display Description Indicates no occurrence of an alarm. Current alarm Indicates the occurrence of [AL.
Page 127: Parameter Mode
4. STARTUP Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation area. At this time, the decimal point in the fourth digit remains flickering. (3) For any alarm, remove its cause and clear it in any of the following methods.
Page 128 4. STARTUP (2) Operation example (a) Parameters of 5 or less digits The following example shows the operation procedure performed after power-on to change the control mode to the speed control mode with [Pr. PA01 Operation mode]. Press "MODE" to switch to the basic setting parameter screen.
Page 129: External I/O Signal Display
4. STARTUP 4.5.7 External I/O signal display POINT The I/O signal settings can be changed using the I/O setting parameters [Pr. PD03] to [Pr. PD28]. The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation The display screen at power-on.
Page 130 4. STARTUP (a) Control modes and I/O signals Signal (Note 2) Symbols of I/O signals in control modes input/output Connector Pin No. Related parameter (Note 1) I/O Pr. PD43/Pr. PD44 PP/- (Note 4) (Note 4) (Note 4) -/PP (Note 3) Pr.
Page 131 4. STARTUP (3) Display data at initial values (a) Position control mode CR (CN1-41) RES (CN1-19) SON (CN1-15) LSN (CN1-44) EM2 (CN1-42) LSP (CN1-43) Input signal Light on: on Output signals Light off: off OP (CN1-33) RD (CN1-49) ALM (CN1-48) INP (CN1-24) ZSP (CN1-23) (b) Speed control mode...
Page 132: Output Signal (Do) Forced Output
4. STARTUP 4.5.8 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on MBR (Electromagnetic brake interlock) by the DO forced output after assigning it to connector CN1 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.
Page 133: Test Operation Mode
4. STARTUP 4.5.9 Test operation mode The test operation mode is designed for checking servo operation. Do not use it CAUTION for actual operation. If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it. POINT MR Configurator2 is required to perform positioning operation. Test operation cannot be performed if SON (Servo-on) is not turned off.
Page 134 4. STARTUP (2) JOG operation POINT When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr. PD01] to " _ C _ _ ". JOG operation can be performed when there is no command from the controller. (a) Operation The servo motor rotates while holding down the "UP"...
Page 135 4. STARTUP (3) Positioning operation POINT MR Configurator2 is required to perform positioning operation. Turn on EM2 (forced stop 2) when performing positioning operation. Positioning operation can be performed when there is no command from the controller. (a) Operation a) Motor speed [r/min] Enter the servo motor speed into the "Motor speed"...
Page 136 4. STARTUP f) Travel distance unit selection Select with the option buttons whether the travel distance set in c) is in the command pulse unit or in the encoder pulse unit. When the command input pulse unit is selected, the value, which is the set travel distance multiplied by the electronic gear, will be the command value.
Page 137 4. STARTUP (4) Motor-less operation Without connecting the servo motor, output signals or status display can be provided in response to the input device as if the servo motor is actually running. This operation can be used to check the sequence of a controller or the like.
Page 138: Parameters
5. PARAMETERS 5. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. CAUTION If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
Page 139 5. PARAMETERS Control mode Initial Symbol Name Unit value PA29 For manufacturer setting 0000h PA30 0000h PA31 0000h PA32 0000h 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Control mode Initial Symbol Name Unit value PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h VRFT Vibration suppression control tuning mode (advanced vibration...
Page 140 5. PARAMETERS Control mode Initial Symbol Name Unit value PB41 For manufacturer setting 0000h PB42 0000h PB43 0000h PB44 0.00 PB45 CNHF Command notch filter 0000h PB46 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h PB48 Machine resonance suppression filter 4...
Page 141 5. PARAMETERS Control mode Initial Symbol Name Unit value PC16 Electromagnetic brake sequence output [ms] PC17 Zero speed [r/min] PC18 *BPS Alarm history clear 0000h PC19 *ENRS Encoder output pulse selection 0000h PC20 *SNO Station number setting (Note) [Station] PC21 *SOP RS-422 communication function selection (Note) 0000h...
Page 142: I/O Setting Parameters ([Pr. Pd_ _ ])
5. PARAMETERS Control mode Initial Symbol Name Unit value PC69 For manufacturer setting PC70 PC71 0040h PC72 0000h PC73 Error excessive warning level [rev] PC74 For manufacturer setting 0000h PC75 0000h PC76 0000h PC77 0000h PC78 0000h PC79 0000h PC80 0000h 5.1.4 I/O setting parameters ([Pr.
Page 143 5. PARAMETERS Control mode Initial Symbol Name Unit value PD39 For manufacturer setting PD40 PD41 0000h PD42 0000h PD43 *DI11L Input device selection 11L 0000h PD44 *DI11H Input device selection 11H 2000h PD45 *DI12L Input device selection 12L 0000h PD46 *DI12H Input device selection 12H 2B00h...
Page 144 5. PARAMETERS Control mode Initial Symbol Name Unit value PE41 EOP3 Function selection E-3 0000h PE42 For manufacturer setting PE43 PE44 0000h PE45 0000h PE46 0000h PE47 0000h PE48 0000h PE49 0000h PE50 0000h PE51 0000h PE52 0000h PE53 0000h PE54 0000h PE55...
Page 145: Basic Setting Parameters ([Pr. Pa
5. PARAMETERS Control mode Initial Symbol Name Unit value PF26 For manufacturer setting PF27 PF28 PF29 0000h PF30 PF31 FRIC Machine diagnosis function - Friction judgement speed [r/min] PF32 For manufacturer setting PF33 0000h PF34 0000h PF35 0000h PF36 0000h PF37 0000h PF38...
Page 146 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PA02 _ _ x x Regenerative option *REG Select a regenerative option. Regenerative Incorrect setting may cause the regenerative option to burn. option If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter error] occurs.
Page 147 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PA06 Set the numerator of the electronic gear. To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear selection" in [Pr. PA21]. Electronic gear The following shows a standard of the setting range of the electronic gear.
Page 148 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PA08 _ _ _ x Gain adjustment mode selection Select the gain adjustment mode. Auto tuning 0: 2 gain adjustment mode 1 (interpolation mode) mode 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode 4: 2 gain adjustment mode 2...
Page 149 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PA09 Set a response of the auto tuning. Machine characteristic Machine characteristic Auto tuning Guideline for Guideline for response Setting Setting machine machine value value Response Response resonance resonance frequency [Hz] frequency [Hz]...
Page 150 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PA13 _ _ _ x Command input pulse train form selection *PLSS 0: Forward/reverse rotation pulse train Command 1: Signed pulse train pulse input 2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after form multiplying by four.) Refer to table 5.3 for settings.
Page 151 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PA14 Select servo motor rotation direction relative to the input pulse train. *POL Servo motor rotation direction Rotation Setting When forward rotation When reverse rotation direction value pulse is input pulse is input selection The following shows the servo motor rotation directions.
Page 152 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PA19 Select a reference range and writing range of the parameter. 00AAh *BLK Refer to table 5.4 for settings. Parameter writing inhibit Table 5.4 [Pr. PA19] setting value and reading/writing range Setting PA19 operation...
Page 153 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PA21 _ _ _ x One-touch tuning function selection *AOP3 0: Disabled Function 1: Enabled selection A-3 When the digit is "0", the one-touch tuning is not available. _ _ x _ For manufacturer setting _ x _ _ x _ _ _ Electronic gear selection...
Page 154: Gain/Filter Setting Parameters ([Pr. Pb
5. PARAMETERS 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Initial Control mode No./ Setting Function value symbol/name digit [unit] PB01 _ _ _ x Filter tuning mode selection FILT Set the adaptive filter tuning. Adaptive Select the adjustment mode of the machine resonance suppression filter 1. Refer to tuning mode section 7.1.2 for details.
Page 155 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB04 Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. Feed forward As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the gain...
Page 156 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB09 Set the gain of the speed loop. [rad/s] Set this parameter when vibration occurs on machines of low rigidity or large backlash. Increasing the setting value will also increase the response level but will Speed loop be liable to generate vibration and/or noise.
Page 157 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB16 Set the shape of the machine resonance suppression filter 2. NHQ2 _ _ _ x Machine resonance suppression filter 2 selection Notch shape 0: Disabled selection 2 1: Enabled _ _ x _ Notch depth selection 0: -40 dB...
Page 158 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB18 Set the low-pass filter. 3141 [rad/s] The following shows a relation of a required parameter to this parameter. Low-pass filter setting Setting range: 100 to 18000 [Pr. PB23] [Pr.
Page 159 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB24 _ _ _ x Slight vibration suppression control selection *MVS Select the slight vibration suppression control. Slight 0: Disabled vibration 1: Enabled suppression To enable the slight vibration suppression control, select "Manual mode (_ _ _ 3)" of control "Gain adjustment mode selection"...
Page 160 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB31 Set the speed loop gain when the gain switching is enabled. [rad/s] VG2B When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09]. Gain This parameter is enabled only when you select "Manual mode (_ _ _ 3)"...
Page 161 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB45 Set the command notch filter. CNHF _ _ x x Command notch filter setting frequency selection Command Refer to table 5.6 for the relation of setting values to frequency. notch filter _ x _ _ Notch depth selection Refer to table 5.7 for details.
Page 162 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB46 Set the notch frequency of the machine resonance suppression filter 3. 4500 [Hz] To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection"...
Page 163 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB51 Set the shape of the machine resonance suppression filter 5. NHQ5 When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine resonance suppression filter 5 is not available.
Page 164 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB56 Set the vibration frequency for vibration suppression control 2 when the gain switching is enabled. [Hz] VRF21B When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB52]. Vibration suppression This parameter will be enabled only when the following conditions are fulfilled.
Page 165: Extension Setting Parameters ([Pr. Pc
5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PB60 Set the model loop gain when the gain switching is enabled. [rad/s] PG1B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07]. Model loop This parameter will be enabled only when the following conditions are fulfilled.
Page 166 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PC03 This is used to smooth start/stop of the servo motor. [ms] Set the time of the arc part for S-pattern acceleration/deceleration. S-pattern Servo is usually operated with linear acceleration and deceleration; however, acceleration/ smooth start and stop are enabled by setting [Pr.
Page 167 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PC05 Set speed 1 of internal speed commands. [r/min] Internal Setting range: 0 to permissible instantaneous speed speed Set speed 1 of internal speed limits. command 1/internal Setting range: 0 to permissible instantaneous speed speed limit 1 PC06 Set speed 2 of internal speed commands.
Page 168 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PC12 Set the speed at the maximum input voltage (10 V) of VC (Analog speed command). [r/min] When "0" is set, the analog speed command maximum speed would be the rated speed of the servo motor connected.
Page 169 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PC15 _ _ x x Analog monitor 2 output selection MOD2 Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 3 (3) for detection point of output selection. Analog monitor 2 Refer to [Pr.
Page 170 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PC21 Select the details of RS-422/RS-485 communication function. *SOP _ _ _ x For manufacturer setting RS-422 _ _ x _ RS-422 communication baud rate selection communi- 0: 9600 [bps] cation 1: 19200 [bps] function...
Page 171 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PC24 _ _ _ x In-position range unit selection *COP3 Select a unit of in-position range. Function 0: Command input pulse unit selection C-3 1: Servo motor encoder pulse unit _ _ x _ For manufacturer setting _ x _ _ x _ _ _ Error excessive alarm/error excessive warning level unit selection...
Page 172 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PC34 To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear selection" in [Pr. PA21]. CMX4 Commanded pulse Setting range: 1 to 16777215 multiplication numerator 4 PC35 Set the parameter on the assumption that the maximum torque is 100 %.
Page 173 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PC37 Set the offset voltage of VC (Analog speed command). value For example, if CCW rotation is provided by switching on ST1 (Forward rotation differs start) with applying 0 V to VC, set a negative value. Analog speed depend command...
Page 174 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PC51 Set deceleration time constant when you use the forced stop deceleration function. [ms] RSBR Set the time per ms from the rated speed to 0 r/min. Forced stop deceleration Dynamic brake time constant...
Page 175 5. PARAMETERS Control Initial No./ Setting mode Function value symbol/name digit [unit] PC73 Set an error excessive warning level. To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive [rev] warning] selection" in [Pr. PC60]. Error excessive You can change the setting unit with "Error excessive alarm/error excessive warning...
Page 176: I/O Setting Parameters ([Pr. Pd
5. PARAMETERS 5.2.4 I/O setting parameters ([Pr. PD_ _ ]) Initial Control mode No./ Setting Function value symbol/name digit [unit] PD01 Select input devices to turn on them automatically. *DIA1 _ _ _ x _ _ _ x (BIN): For manufacturer setting Input signal (HEX) _ _ x _ (BIN): For manufacturer setting...
Page 177 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PD03 Any input device can be assigned to the CN1-15 pin. *DI1L _ _ x x Position control mode - Device selection Input device Refer to table 5.9 for settings. selection 1L x x _ _ Speed control mode - Device selection...
Page 178 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PD14 Any input device can be assigned to the CN1-41 pin. *DI6H _ _ x x Torque control mode - Device selection Input device Refer to table 5.9 in [Pr. PD03] for settings. selection 6H _ x _ _ For manufacturer setting x _ _ _...
Page 179 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PD25 _ _ x x Device selection *DO3 Any output device can be assigned to the CN1-24 pin. Output device Refer to table 5.10 in [Pr. PD24] for settings. selection 3 _ x _ _ For manufacturer setting...
Page 180 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PD34 _ _ _ x Alarm code output *DOP5 Select if output alarm codes. Function Alarm codes are outputted to pins CN1-23, CN1-24, and CN1-49. selection D-5 0: Disabled 1: Enabled For details of the alarm codes, refer to chapter 8.
Page 181 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PD46 Any input device can be assigned to the CN1-35 pin and the CN1-38 pin. *DI12H When "00" is set, NP/NP2 (Reverse rotation pulse/Manual pulse generator) will be assigned. Input device The CN1-38 pin is available with servo amplifiers having software version B7 or later, and manufactured in May, 2015 selection 12H...
Page 182 5. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit [unit] PF23 Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration OSCL1 tough drive is enabled. Vibration However, setting "0"...
Page 183 5. PARAMETERS MEMO 5 - 46...
Page 184: Normal Gain Adjustment 6- 1 To
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 185: Adjustment Using Mr Configurator2
6. NORMAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage Start Interpolation 2 gain adjustment mode 1 made for 2 or more (interpolation mode) axes? The load fluctuation is large during driving? One-touch tuning Handle the error Error handling Finished normally? Auto tuning mode 1 is possible? Adjustment OK?
Page 186: One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT 6.2 One-touch tuning POINT When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value). You can execute the one-touch tuning with MR Configurator2 or push buttons. The following parameters are set automatically with one-touch tuning.
Page 187 6. NORMAL GAIN ADJUSTMENT (2) When you use push buttons Make one-touch tuning as follows. Start Startup a system referring to chapter 4. Startup of the system Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the Operation servo motor is not operating.) Select the initial screen ("AUTO") of the one-touch tuning with the "MODE"...
Page 188: Display Transition And Operation Procedure Of One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT 6.2.2 Display transition and operation procedure of one-touch tuning (1) When you use MR Configurator2 (a) Response mode selection Select a response mode from three modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for high rigid system.
Page 189 6. NORMAL GAIN ADJUSTMENT Response mode Machine characteristic Response Low mode Basic mode High mode Guideline of corresponding machine Low response Arm robot General machine tool conveyor Precision working machine Inserter Mounter Bonder High response 6 - 6...
Page 190 6. NORMAL GAIN ADJUSTMENT (b) 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 191 6. NORMAL GAIN ADJUSTMENT (c) Stop of one-touch tuning During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code. (d) Error occurrence If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated.
Page 192 6. NORMAL GAIN ADJUSTMENT (g) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 6.1 for the parameters which you can clear. Pushing "Return to value before tuning" in the one-touch tuning window of MR Configurator2 enables to rewrite the parameter to the value before pushing the start button.
Page 193 6. NORMAL GAIN ADJUSTMENT (2) When you use push buttons POINT Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the response mode selection ("AUTO.") without going through the initial screen of the one-touch tuning ("AUTO"). (a) Response mode selection Select a response mode of the one-touch tuning from 3 modes with "UP"...
Page 194 6. NORMAL GAIN ADJUSTMENT (b) 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 195 6. NORMAL GAIN ADJUSTMENT (d) If an error occurs Stop symbol If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the stop symbol and error code from "C 001" to "C 00F" will be displayed by turns with 2 s interval.
Page 196: Caution For One-Touch Tuning
6. NORMAL GAIN ADJUSTMENT (g) Clearing one-touch tuning Refer to table 6.1 for the parameters which you can clear. You can initialize the parameters changed by the one-touch tuning with the clear mode. You can reset the parameters to before tuning with the back mode. 1) Switch to the initial screen "AUTO"...
Page 197: Auto Tuning
6. NORMAL GAIN ADJUSTMENT 6.3 Auto tuning 6.3.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.
Page 198: Auto Tuning Mode Basis
6. NORMAL GAIN ADJUSTMENT 6.3.2 Auto tuning mode basis The block diagram of real-time auto tuning is shown below. Load moment Automatic setting of inertia Encoder Loop gain Command Current PG1, PG2, control VG2, VIC Servo motor Current feedback Real-time Position/speed Set 0 or 1 to turn on.
Page 199: Adjustment Procedure By Auto Tuning
6. NORMAL GAIN ADJUSTMENT 6.3.3 Adjustment procedure by auto tuning Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
Page 200: Response Level Setting In Auto Tuning Mode
6. NORMAL GAIN ADJUSTMENT 6.3.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
Page 201: Manual Mode
6. NORMAL GAIN ADJUSTMENT 6.4 Manual mode If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
Page 202 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 203 6. NORMAL GAIN ADJUSTMENT (b) Adjustment procedure Step Operation Description Brief-adjust 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 slightly smaller value to the model loop gain and the...
Page 204 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 205: Gain Adjustment Mode
6. NORMAL GAIN ADJUSTMENT 6.5 2 gain adjustment mode Use the 2 gain adjustment mode to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command track ability.
Page 206 6. NORMAL GAIN ADJUSTMENT (3) Adjustment procedure of 2 gain adjustment mode POINT Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain adjustment mode. Step Operation Description Set to the auto tuning mode. Select the auto tuning mode 1.
Page 207 6. NORMAL GAIN ADJUSTMENT MEMO 6 - 24...
Page 208: Special Adjustment Functions
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 209 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width. Machine resonance point Frequency Notch width...
Page 210 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 211: Adaptive Filter Ii
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.2 Adaptive filter II POINT The machine resonance frequency which adaptive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds.
Page 212 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning Operation Is the target response reached? Increase the response setting. Has vibration or unusual noise occurred? Execute or re-execute adaptive tuning. (Set [Pr. PB01] to "_ _ _ 1".) Tuning ends automatically after the If assumption fails after tuning is executed at a large vibration or predetermined period of time.
Page 213: Shaft Resonance Suppression Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.3 Shaft resonance suppression filter POINT This filter is set properly by default according to servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression filter selection" in [Pr. PB23] or setting [Pr.
Page 214: Low-Pass Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.4 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as the initial value.
Page 215 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Function Use the vibration suppression control 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 216 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 217 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 produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external equipment, do not set the same value but set different values to improve the vibration suppression performance.
Page 218 7. SPECIAL ADJUSTMENT FUNCTIONS Step 1. Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or "Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr. PB02]. Step 2. Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control - Resonance frequency"...
Page 219: Command Notch Filter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.1.6 Command notch filter POINT By using the advanced vibration suppression control II and the command notch filter, the load-side vibration of three frequencies can be suppressed. The frequency range of machine vibration, which can be supported by the command notch filter, is between 4.5 Hz and 2250 Hz.
Page 220: Gain Switching Function
7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency, set the closest value to the vibration frequency [Hz] at the load side. [Pr. PB45] Notch depth Command notch filter setting frequency Depth Setting Setting...
Page 221: Function Block Diagram
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.2 Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition]. [Pr.
Page 222: Parameter
7. SPECIAL ADJUSTMENT FUNCTIONS 7.2.3 Parameter When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.
Page 223 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 224: Gain Switching Procedure
7. SPECIAL ADJUSTMENT FUNCTIONS (c) [Pr. PB29 Load to motor inertia ratio after gain switching] Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia ratio]. (d) [Pr.
Page 225 7. SPECIAL ADJUSTMENT FUNCTIONS Parameter Symbol Name Setting value Unit PB28 Gain switching time constant [ms] PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain [Hz] switching PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain [Hz] switching PB35...
Page 226 7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose switching by droop pulses In this case, the vibration suppression control after gain switching and model loop gain after gain switching cannot be used. (a) Setting Parameter Symbol Name Setting value Unit PB06 Load to motor inertia ratio 4.00...
Page 227 7. SPECIAL ADJUSTMENT FUNCTIONS (3) When the gain switching time constant is disabled (a) Gain switching time constant disabled was selected. The gain switching time constant is disabled with this setting. The time constant is enabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr. PB28 (CDT)] = 100 [ms].
Page 228: Tough Drive Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Tough drive function POINT Set enable/disable of 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 functions are the vibration tough drive and the instantaneous power failure tough drive.
Page 229 7. SPECIAL ADJUSTMENT FUNCTIONS The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a parameter whose set value is closer. Parameter that is Filter Setting parameter...
Page 230: Instantaneous Power Failure Tough Drive Function
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3.2 Instantaneous power failure tough drive function The tolerance against instantaneous power failure is increased by the CAUTION instantaneous power failure tough drive function. However, it is not guarantee to comply with the SEMI-F47 standard. The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation.
Page 231 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Instantaneous power failure time > [Pr. PF25 Instantaneous power failure tough drive - detection time] The alarm occurs when the instantaneous power failure time exceeds [Pr. PF25 Instantaneous power failure tough drive - detection time]. MTTR (During tough drive) turns on after the instantaneous power failure is detected.
Page 232 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Instantaneous power failure time < [Pr. PF25 Instantaneous power failure tough drive - detection time] Operation status differs depending on how bus voltage decrease. (a) When the bus voltage decreases lower than 158 V DC within the instantaneous power failure time [AL.
Page 233 7. SPECIAL ADJUSTMENT FUNCTIONS (b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power failure time The operation continues without alarming. Instantaneous power failure time Power supply [Pr. PF25] Bus voltage Undervoltage level (158 V DC) (Malfunction) (Warning)
Page 234: Model Adaptive Control Disabled
7. SPECIAL ADJUSTMENT FUNCTIONS 7.4 Model adaptive control disabled POINT Change the parameters while the servo motor stops. When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operation status of the servo motor. This is used with servo amplifiers with software version B4 or later.
Page 235 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO 7 - 28...
Page 236: Troubleshooting
8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT Refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.
Page 237: Alarm List
8. TROUBLESHOOTING 8.2 Alarm list Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note 2, Alarm reset power (Bit 2) (Bit 1) (Bit 0) 10.1 Voltage drop in the power Undervoltage 10.2 Bus voltage drop 12.1 RAM error 1 12.2 RAM error 2 Memory error 1 (RAM)
Page 238 8. TROUBLESHOOTING Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note 2, Alarm reset power (Bit 2) (Bit 1) (Bit 0) Encoder normal communication - 20.1 Receive data error 1 Encoder normal communication - 20.2 Receive data error 2 Encoder normal communication - 20.3 Receive data error 3...
Page 239 8. TROUBLESHOOTING Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note 2, Alarm reset power (Bit 2) (Bit 1) (Bit 0) 39.1 Program error 39.2 Command argument external error Program error 39.3 Register No. error Non-correspondence command 39.4 error 3E.1...
Page 240 8. TROUBLESHOOTING Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence. 2. The following shows three stop methods of DB, EDB, and SD. DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.) EDB: Electronic dynamic brake stop (available with specified servo motors) Refer to the following table for the specified servo motors.
Page 241: Warning List
8. TROUBLESHOOTING 8.3 Warning list Stop Detail method Name Detail name (Note 2, 90.1 Home position return incomplete Home position return Home position return abnormal 90.2 incomplete warning termination 90.5 Z-phase unpassed Servo amplifier Main circuit device overheat overheat warning 91.1 warning (Note 1)
Page 242 8. TROUBLESHOOTING Stop Detail method Name Detail name (Note 2, Servo-on signal on during main E9.1 circuit off Bus voltage drop during low speed Main circuit off warning E9.2 operation Ready-on signal on during main E9.3 circuit off Overload warning 2 EC.1 Overload warning 2 Output watt excess...
Page 243 8. TROUBLESHOOTING MEMO 8 - 8...
Page 244: Dimensions
9. DIMENSIONS 9. DIMENSIONS 9.1 Servo amplifier (1) MR-JE-10A to MR-JE-40A [Unit: mm] φ6 mounting hole Approx. 80 CNP1 The built-in regenerative resistor (lead wire) is mounted only in MR-JE-40A. Mass: 0.8 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 Approx.
Page 245 9. DIMENSIONS (2) MR-JE-70A/MR-JE-100A [Unit: mm] φ 6 mounting hole Approx. 80 CNP1 Mass: 1.5 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 Approx. 70 3-M5 screw Screw size: M4 Tightening torque: 1.2 [N•m] 42 ± 0.3 Approx.
Page 246 9. DIMENSIONS (3) MR-JE-200A/MR-JE-300A [Unit: mm] φ6 mounting hole Approx. 80 Lock knob Exhaust CNP1 CNP2 Cooling fan air intake Mass: 2.1 [kg] Mounting screw Terminal Screw size: M5 Tightening torque: 3.24 [N•m] CNP1 Approx. 90 CNP2 3-M5 screw Screw size: M4 Tightening torque: 1.2 [N•m] Approx.
Page 247: Connector
9. DIMENSIONS 9.2 Connector (1) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] Logo etc, are indicated here. 12.7 Variable dimensions Connector Shell kit 10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0 (b) Jack screw M2.6 type This is not available as option.
Page 248 9. DIMENSIONS (2) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 39.5 34.8 9 - 5...
Page 249 9. DIMENSIONS MEMO 9 - 6...
Page 250: Characteristics
10. CHARACTERISTICS 10. CHARACTERISTICS 10.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads. [AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig.
Page 251: Power Supply Capacity And Generated Loss
(Note 2) Servo amplifier- (Note 1) Area required generated heat [W] Servo amplifier Servo motor for heat Power supply dissipation [m capacity [kVA] At rated output With servo-off MR-JE-10A HG-KN13_ MR-JE-20A HG-KN23_ MR-JE-40A HG-KN43_ HG-KN73_ MR-JE-70A HG-SN52_ MR-JE-100A HG-SN102_ HG-SN152_...
Page 252 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. Calculate the necessary cabinet dissipation area (allowing a margin of approximately 5 °C for the ambient temperature of 55 °C maximum) with equation (10.1).
Page 253: Dynamic Brake Characteristics
10. CHARACTERISTICS 10.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency. For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.
Page 254: Permissible Load To Motor Inertia When The Dynamic Brake Is Used
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 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 255: Cable Bending Life
The following table indicates the inrush currents (reference data) that will flow when 240 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m. Even when you use a 1-phase 200 V AC power supply with MR-JE-10A to MR-JE-200A, the inrush currents will be the same. Servo amplifier...
Page 256: Options And Peripheral Equipment
11. OPTIONS AND PERIPHERAL EQUIPMENT 11. OPTIONS AND PERIPHERAL EQUIPMENT Before connecting options and peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric WARNING shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Page 257: Combinations Of Cable/Connector Sets
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.1.1 Combinations of cable/connector sets Operation panel Servo amplifier Personal computer Controller 1) (Packed with the servo amplifier) (Note) CNP1 Refer to "HG-KN/HG-SN Servo Motor Instruction Manual" for options for servo motor power supply, electromagnetic brake, and encoder. To 24 V DC power supply for electromagnetic brake Servo motor...
Page 258 11. OPTIONS AND PERIPHERAL EQUIPMENT Product name Model Description Application Servo amplifier MR-JECNP1-01 CNP1 Connector: 09JFAT-SAXGDK-H5.0 (JST) Supplied with servo CNP1 power Applicable wire size: AWG 18 to 14 amplifiers connector Insulator OD: to 3.9 mm of 1 kW or less Open tool: J-FAT-OT (JST) MR-JECNP1-02...
Page 259: Regenerative Option
Regenerative power [W] Servo (Note) Built-in MR-RB032 MR-RB12 MR-RB30 MR-RB32 amplifier regenerative MR-RB50 [40 Ω] [40 Ω] [13 Ω] [40 Ω] resistor [13 Ω] MR-JE-10A MR-JE-20A MR-JE-40A MR-JE-70A MR-JE-100A MR-JE-200A MR-JE-300A Note. Always install a cooling fan. 11 - 4...
Page 260: Selection Of Regenerative Option
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.2 Selection of regenerative option Use the following method when regeneration occurs continuously in vertical motion applications or when selecting the regenerative option in details. (1) Regenerative energy calculation tf (1 cycle) Time Down psa1 psd1 psa2 psd2...
Page 261 Inverse Capacitor Servo amplifier Servo amplifier efficiency [%] charging [J] efficiency [%] charging [J] MR-JE-10A MR-JE-100A MR-JE-20A MR-JE-200A MR-JE-40A MR-JE-300A MR-JE-70A Inverse efficiency (η): Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Since the efficiency varies with the speed and generated torque, allow for about 10%.
Page 262: Selection Of Regenerative Option
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.4 Selection of regenerative option POINT When you use a regenerative option with an MR-JE-40A to MR-JE-100A, remove the built-in regenerative resistor and wiring from the servo amplifier. When MR-RB50 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer.
Page 263 5 m or less (Note 3) Cooling fan Note 1. The built-in regenerative resistor is not provided for MR-JE-10A and MR-JE-20A. 2. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs. G3-G4 contact specifications Maximum voltage: 120 V AC/DC Maximum current: 0.5 A/4.8 V DC...
Page 264 11. OPTIONS AND PERIPHERAL EQUIPMENT To remove the built-in regenerative resistor mounted on the back of MR-JE-40A to MR-JE-100A, follow the procedures 1) to 3) with referring the illustration. 1) Disconnect the wirings of the built-in regenerative resistor from the power connector (CNP1). (Refer to (3) (b) of 3.3.2.) 2) Remove the wirings of the built-in regenerative resistor from the closest position to the power connector (CNP1) in order.
Page 265 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) MR-JE-200A or more Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and G4 are terminals for thermal sensor. Between G3 and G4 is opened when the regenerative option overheats abnormally.
Page 266: Dimensions
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.2.5 Dimensions (1) MR-RB12 [Unit: mm] TE1 terminal block φ6 mounting hole Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Mass: 1.1 [kg] Approx.
Page 267 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 268: Junction Terminal Block Mr-Tb50
Use the following for the terminal label. For the input/output pin assignment in the control mode, refer to (4) (b) of this section. (3) Dimensions [Unit: mm] MITSUBISHI MR-TB50 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 3133 35 37 39 41 43 45 47 49...
Page 269 11. OPTIONS AND PERIPHERAL EQUIPMENT (4) Junction terminal block cable MR-J2M-CN1TBL_M (a) Model explanations Model: Symbol Cable length [m] (b) Connection diagram 10150-6000EL (servo amplifier side) D7950-B500FL (junction terminal side) Signal symbol Pin No. Pin No. Position Speed Torque DICOM DICOM DICOM DICOM...
Page 270: Mr Configurator2
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.4 MR Configurator2 POINT For the MR-JE servo amplifier, use MR Configurator2 with software version 1.19V or later. MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. 11.4.1 Specifications Item Description...
Page 271 11. OPTIONS AND PERIPHERAL EQUIPMENT Note 1. On some personal computers, MR Configurator2 may not run properly. ® 2. When Windows XP or later is used, the following functions cannot be used. Windows Program Compatibility mode Fast User Switching Remote Desktop Large Fonts Mode (Display property) DPI settings other than 96 DPI (Display property) ®...
Page 272: Precautions For Using Usb Communication Function
11. OPTIONS AND PERIPHERAL EQUIPMENT 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 computers Connect your personal computer with the following procedures. (a) When you use a personal computer with AC power supply 1) When using a personal computer with a three-core power plug or power plug with grounding wire, use a three-pin socket or ground the grounding wire.
Page 273: Selection Example Of Wires
Table 11.1 shows examples for using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire). Table 11.1 Wire size selection example (HIV wire) Wire [mm Servo amplifier 2) U 3) P+ 1) L1/L2/L3/ (Note 1) MR-JE-10A MR-JE-20A AWG 18 to 14 MR-JE-40A (Note 2) MR-JE-70A 2 (AWG 14) MR-JE-100A 2 (AWG 14)
Page 274: Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
Power factor Class Current [A] (Note 2) improving reactor is improving reactor is not used used MR-JE-10A 30 A frame 5 A 30 A frame 5 A MR-JE-20A MR-JE-40A 30 A frame 10 A 30 A frame 5 A MR-JE-70A...
Page 275: Power Factor Improving Ac Reactor
(a) When using 3-phase 200 V AC to 240 V AC power supply Servo amplifier FR-HAL MCCB 3-phase 200 V AC to 240 V AC (b) When using 1-phase 200 V AC to 240 V AC power supply for MR-JE-10A to MR-JE-100A Servo amplifier FR-HAL MCCB (Note) 1-phase 200 V AC to 240 V AC Note.
Page 276: Relay (Recommended)
Fig. 11.1 Dimensions [mm] Power factor Terminal Mass Servo amplifier improving AC Dimensions size [kg] reactor (Note 3) MR-JE-10A, MR-JE-20A FR-HAL-0.4K MR-JE-40A FR-HAL-0.75K MR-JE-70A FR-HAL-1.5K MR-JE-100A FR-HAL-2.2K (3-phase power supply input) (Note 3) MR-JE-100A Fig. 11.1 (1-phase power supply input) FR-HAL-3.7K...
Page 277: Noise Reduction Techniques
11. OPTIONS AND PERIPHERAL EQUIPMENT 11.9 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 278 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 279 11. OPTIONS AND PERIPHERAL EQUIPMENT (2) Noise reduction techniques (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 280 11. OPTIONS AND PERIPHERAL EQUIPMENT (c) Cable clamp fitting AERSBAN-_SET Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an grounding plate as shown below.
Page 281 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 282 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 283: Earth-Leakage Current Breaker
To minimize leakage currents, make the input and output cables as short as possible, and make the grounding cable longer than 30 cm. Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA] ···································· (11.1) Earth-leakage current breaker Cable Mitsubishi Noise filter Type products Cable...
Page 284 Table 11.4 Earth-leakage current breaker selection example Rated sensitivity current of earth- Servo amplifier capacity [kW] leakage current breaker [mA] MR-JE-10A to MR-JE-300A (2) Selection example Indicated below is an example of selecting an earth-leakage current breaker under the following conditions.
Page 285: Emc Filter (Recommended)
Surge protector (RSPD-250-U4) (OKAYA Electric Industries Co., Ltd.) Note. The example is when a surge protector is connected. (b) When using 1-phase 200 V AC to 240 V AC power supply for MR-JE-10A to MR-JE-100A EMC filter Servo amplifier MCCB...
Page 286 11. OPTIONS AND PERIPHERAL EQUIPMENT (c) When using 1-phase 200 V AC to 240 V AC power supply for MR-JE-200A EMC filter Servo amplifier (Note 1) MCCB 1-phase 200 V AC to 240 V AC (Note 2) Surge protector (RSPD-250-U4) (OKAYA Electric Industries Co., Ltd.) Note 1.
Page 287 11. OPTIONS AND PERIPHERAL EQUIPMENT (b) Surge protector RSPD-250-U4 [Unit: mm] φ4.2 ± 0.5 Resin Lead Case 41 ± 1 11 - 32...
Page 288: Communication Function (Mitsubishi General-Purpose Ac Servo Protocol)
The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together. You can operate servo driving, parameter change, monitor function, etc. using Mitsubishi general-purpose AC servo protocol (RS-422 communication) with the servo amplifier. 12.1 Structure 12.1.1 Configuration diagram...
Page 289: Precautions For Using Rs422/Usb Communication Function
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) Note 1. Connector set MR-J3CN1 (3M or equivalent) Connector: 10150-3000PE Shell kit: 10350-52F0-008 2. Connect between TRE and RDN of the final axis servo amplifier. 3. The overall length is 30 m or less in low-noise environment.
Page 290: Communication Specifications
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.2 Communication specifications 12.2.1 Outline of communication Receiving a command, this servo amplifier returns data. The device which gives the command (e.g. personal computer) is called a master station and the device (servo amplifier) which returns data in response to the command is called a slave station.
Page 291: Protocol
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.3 Protocol 12.3.1 Transmission data configuration Since up to 32 axes may be connected to the bus, add a station No. to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station No. to each servo amplifier using the parameters.
Page 292: Character Codes
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.3.2 Character codes (1) Control codes Personal computer terminal Hexadecimal Code key operation Description name (ASCII code) (general) start of head ctrl + A start of text ctrl + B end of text...
Page 293: Error Codes
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.3.3 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. Receiving data from the master station, the slave station sends the error code corresponding to that data to the master station.
Page 294: Retry Processing
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.3.6 Retry processing When a fault occurs in communication between the master and slave stations, the error code in the response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station retransmits the message which was sent at the occurrence of the fault (retry processing).
Page 295: Communication Procedure Example
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.3.8 Communication procedure example The following example reads the set value of alarm history (last alarm) from the servo amplifier of station 0. Data item Value Description Station No. Servo amplifier station 0...
Page 296: Command And Data No. List
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.4 Command and data No. list POINT Even if a command or data No. is the same between different model servo amplifiers, its description may differ. 12.4.1 Reading command (1) Status display (command [0] [1]) Command Data No.
Page 297 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (2) Parameters (command [0] [4], [1] [5], [1] [6], [1] [7], [0] [8], and [0] [9]) Command Frame length Data No. Description [0] [4] [0] [1] Parameter group reading 0000: Basic setting parameters ([Pr. PA_ _ ]) 0001: Gain/filter parameters ([Pr.
Page 298 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (4) Alarm history (command [3] [3]) Command Frame length Data No. Description Alarm occurrence sequence [3] [3] [1] [0] Alarm No. in alarm history Most recent alarm [1] [1] First alarm in past...
Page 299 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) Command Frame length Data No. Description Status display [3] [5] [0] [A] Status display symbol and unit Instantaneous torque [0] [B] Position within one-revolution [0] [C] ABS counter (Note) [0] [D] Load to motor inertia ratio...
Page 300: Writing Commands
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.4.2 Writing commands (1) Status display (command [8] [1]) Command Data No. Description Setting range Frame length [8] [1] [0] [0] Status display data deletion 1EA5 (2) Parameters (command [9] [4], [8] [5]) Command Data No.
Page 301 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (8) Test operation mode data (command [9] [2], [A] [0]) Command Data No. Description Setting range Frame length [9] [2] [0] [0] Input signal for test operation Refer to section 12.5.7. [A] [0]...
Page 302: Detailed Explanations Of Commands
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.5 Detailed explanations of commands 12.5.1 Data processing When the master station transmits a command data No. or a command + data No. + data to a slave station, the servo amplifier returns a response or data in accordance with the purpose.
Page 303 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (2) Writing processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.
Page 304: Status Display Mode
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.5.2 Status display mode (1) Reading the status display name and unit The following shows how to read the status display name and unit. (a) Transmission Transmit the command [0] [1] and the data No. corresponding to the status display item to be read, [0] [0] to [0] [E] and [2] [0] to [2] [9].
Page 305: Parameter
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.5.3 Parameter (1) Specification of the parameter group To read or write the parameter settings, etc., the group of the parameters to be operated must be specified in advance. Write data to the servo amplifier as follows to specify the parameter group.
Page 306 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (4) Reading the setting The following shows how to read the parameter setting. Specify a parameter group in advance. (Refer to (1) of this section.) (a) Transmission Transmit the command [1] [5] and the data No. corresponding to the parameter No [0] [1] to [F] [F].
Page 307 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (5) Reading the setting range The following shows how to read the parameter setting range. Specify a parameter group in advance. (Refer to (1) of this section.) (a) Transmission When reading an upper limit value, transmit the command [1] [6] and the data No. [0] [1] to [F] [F] corresponding to the parameter No.
Page 308 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (6) Writing setting values POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not to the EEP-ROM. The EEPROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.
Page 309: External I/O Signal Status (Dio Diagnosis)
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.5.4 External I/O signal status (DIO diagnosis) (1) Reading input device status The following shows how to read the status of the input devices. (a) Transmission Transmit command [1] [2] and data No. [0] [0].
Page 310 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (3) Reading the status of input devices switched on with communication The following shows how to read the on/off status of the input devices switched on with communication. (a) Transmission Transmit command [1] [2] and data No. [6] [0].
Page 311 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (5) Reading external output pin status The following shows how to read the on/off status of the external output pins. (a) Transmission Transmit command [1] [2] and data No. [C] [0]. Command Data No.
Page 312: Input Device On/Off
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.5.5 Input device on/off POINT The on/off status of all devices in the servo amplifier are the status of the data received at last. Therefore, when there is a device which must be kept on, transmit data which turns the device on every time.
Page 313: Input Devices On/Off (Test Operation)
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (2) Disabling/enabling the output devices (DO) Transmit the following communication commands. (a) Disabling Command Data No. Data [9] [0] [0] [3] 1EA5 (b) Enabling Command Data No. Data [9] [0] [1] [3] 1EA5 12.5.7 Input devices on/off (test operation)
Page 314: Test Operation Mode
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.5.8 Test operation mode POINT The test operation mode is used to check operation. Do not use it for actual operation. If communication stops for longer than 0.5 s during test operation, the servo amplifier decelerates to a stop, resulting in servo-lock.
Page 315 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (2) JOG operation Transmit the command, data No., and data as follows to execute JOG operation. Start Select the JOG operation Command : [8] [B] in the test operation mode. Data No.
Page 316 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (3) Positioning operation (a) Operation procedure Transmit the command, data No., and data as follows to execute positioning operation. Start Command : [8] [B] Select the positioning operation Data No. : [0] [0] in the test operation mode.
Page 317: Output Signal Pin On/Off (Output Signal (Do) Forced Output)
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (b) Temporary stop/restart/remaining distance clear Transmit the following command, data No., and data during positioning operation to make deceleration to a stop. Command Data No. Data [A] [0] [4] [1] STOP Transmit the following command, data No., and data during a temporary stop to restart.
Page 318: Alarm History
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (3) Output signal (DO) forced output Transmit command [8] [B] + data No. [0] [0] + data to stop the output signal (DO) forced output. Transmission Command Data No. Selection of test operation mode...
Page 319: Current Alarm
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.5.11 Current alarm (1) Current alarm reading The following shows how to read the alarm No. which is occurring currently. (a) Transmission Transmit command [0] [2] and data No. [0] [0]. Command Data No.
Page 320: Software Version
12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 12.5.12 Software version The following shows how to read the software version of the servo amplifier. (a) Transmission Transmit command [0] [2] and data No. [7] [0]. Command Data No. [0] [2]...
Page 321 12. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) MEMO 12 - 34...
Page 322: Appendix
Here, professional engineers are persons who took a proper engineering training or qualified persons who are engaged in electrical equipment. Check if applicable technical training is available at your local Mitsubishi Electric office. Contact your local sales office for schedules and locations.
Page 323 Always use the MR-JE servo amplifiers within specifications (voltage, temperature, etc. Refer to section 1.3 for details.). 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 324 Installation and use, including recommended mitigation devices. (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 (2004/108/EC and 2006/95/EC). For the copy of Declaration of Conformity, contact your local sales office.
Page 325 APPENDIX (3) USA/Canada compliance This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No.14. (a) Installation The minimum cabinet size is 150% of MR-JE servo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in the metal cabinet.
Page 326 APPENDIX App. 2.2 Mounting/dismounting 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 vertical direction to maintain pollution degree 2. Cabinet Cabinet 40 mm...
Page 327 2. For the MR-JE-200_ servo amplifiers, connect the power supply to L1 and L2. Leave L3 open. The control circuit connectors described by rectangles are safely separated from the main circuits described by circles. The connected motors will be limited as follows. HG-KN/HG-SN series servo motors (Mfg.: Mitsubishi Electric) App. - 6...
Page 328 APPENDIX App. 2.4 Signals App. 2.4.1 Signal The following shows CN1 connector signals of MR-JE-10A as a typical example. DICOM DICOM DOCOM DOCOM This is in position control mode. App. - 7...
Page 329 APPENDIX App. 2.4.2 I/O device The following shows typical I/O devices of MR-JE-_A. For the other devices, refer to each servo amplifier instruction manual. Input device Symbol Device Connector Pin No. Servo-on Reset Clear Forced stop 2 Forward rotation stroke end Reverse rotation stroke end Output device Symbol...
Page 330 APPENDIX App. 2.5 Maintenance and service To avoid an electric shock, only qualified personnel should attempt inspections. WARNING For repair and parts replacement, contact your local sales office. App. 2.5.1 Inspection items It is recommended that the following points periodically be checked. (1) Check for loose screws on the protective earth (PE) terminal.
Page 331 APPENDIX App. 2.6 Transportation and storage Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. Install the product in a load-bearing place of servo amplifier and servo motor in CAUTION accordance with instruction manual.
Page 332: App. 3 Analog Monitor
APPENDIX App. 2.7.3 Mounting hole Variable dimensions [mm] Screw size Servo amplifier MR-JE-10_/MR-JE-20_/MR-JE-40_ 156 ± 0.5 MR-JE-70_/MR-JE-100_ 156 ± 0.5 42 ± 0.3 MR-JE-200_/MR-JE-300_ 156 ± 0.5 78 ± 0.3 App. 3 Analog monitor POINT A voltage of analog monitor output may be irregular at power-on. The servo status can be outputted to two channels in terms of voltage.
Page 333 APPENDIX (2) Setting The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque to MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. PC14] and [Pr.
Page 334 APPENDIX Note 1. Encoder pulse unit 2. This cannot be used in the torque control mode. 3. This cannot be used in the speed control mode. 4. The maximum speed of the HF-KN series servo motor is 4500 r/min and that of the HG-KN series is 5000 r/min. Please watch out when using an HG-KN series servo motor as a replacement for the HF-KN series servo motor because HG-KN series output 8 V at 5000 r/min.
Page 335: App. 4 Low-Voltage Directive
APPENDIX App. 4 Low-voltage directive MR-JE series servo amplifiers are certificated in compliance with Low-voltage directive. The following shows a certificate by the Certification Body. Supplementation: Refer to section 1.6 (2) for the models shown in "(see Appendix 1)". App. - 14...
Page 336: App. 5 Using Hf-Kn Series And Hf-Sn Series Servo Motors
App. 5 Using HF-KN series and HF-SN series servo motors POINT For HF-KN series and HF-SN series servo motors, refer to "HF-KN/HF-SN Servo Motor Instruction Manual" (SH(NA)030123). App.5.1 Combinations of servo amplifiers and servo motors Servo amplifier Servo motor MR-JE-10A HF-KN13_ MR-JE-20A HF-KN23_ MR-JE-40A HF-KN43_ MR-JE-70A...
Page 337 (Note 1) (Note 2) Servo amplifier- Area required generated heat [W] Power supply Servo amplifier Servo motor for heat capacity At rated output With servo-off dissipation [m [kVA] MR-JE-10A HF-KN13_ MR-JE-20A HF-KN23_ MR-JE-40A HF-KN43_ HF-KN73_ MR-JE-70A HF-SN52_ MR-JE-100A HF-SN102_ HF-SN152_ MR-JE-200A...
Page 338: App. 6 When Turning On Or Off The Input Power Supply With Dc Power Supply
24 V DC Note 1. When using a power supply of 1-phase 200 V AC to 240 V AC for MR-JE-10A to MR-JE-100A, connect the power supply to L1 and L3. Leave L2 open. When using a power supply of 1-phase 200 V AC to 240 V AC for MR-JE-200A, connect the power supply to L1 and L2.
Page 339 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision May. 2013 SH(NA)030128-A First edition Jul. 2013 SH(NA)030128-B 4. Additional instructions Partially changed. (3) Transportation and installation Section 1.3 Partially changed. Section 1.6 Partially changed.
Page 340 Print Data *Manual Number Revision Jan. 2014 SH(NA)030128-C Chapter 12 Added. App. 2.1.3 Partially changed. App. 2.1.4 Partially changed. App. 2.7.1 Partially changed. Oct. 2014 SH(NA)030128-D Compatible with HG-KN series/HG-SN series servo motors Safety Instructions 2.To prevent fire, note the Partially changed.
Page 341 Print Data *Manual Number Revision Apr. 2015 SH(NA)030128-E 2. To prevent fire, note the The content is changed. following. 4. Additional instructions The sentences are changed. 4. Additional instructions (6) An item is added. General instruction Relevant manuals The content is added. Section 1.3 The content of the table is changed and added.
Page 342 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 343 MEMO...
Page 344 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia : +61-2-9684-7245 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.
Page 345 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 346 MR-JE-A SERVOAMPLIFIER MODEL INSTRUCTIONMANUAL MODEL 1CW706 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030128-E (1504) MEE Printed in Japan Specifications are subject to change without notice.
Page 348 Phone: +1 (847) 478-2100 Fax: +36 (0)1 / 431-9727 Fax: +1 (847) 478-0328 Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / info@mitsubishi-automation.com / https://eu3a.mitsubishielectric.com...

Mitsubishi MR-JE-20A Instruction Manual

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Startup

5 Parameters

6 NORMAL GAIN ADJUSTMENT 6- 1 to

7 Special Adjustment Functions

8 Troubleshooting

9 Dimensions

10 Characteristics

11 Options and Peripheral Equipment

12 Communication Function (Mitsubishi General-Purpose Ac Servo Protocol)

Appendix

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