Gebruiksaanwijzing /service van het product MR-E- A/AG van de fabrikant Mitsubishi Electronics
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General-Purpose AC Servo MODEL MR-E- A/AG INSTRUCTION MANUAL B.
A - 1 Safety Instructions (Alwa ys read t hese instruct ions b efore us ing t he equipm ent.) Do not attem pt to install, ope rate, m aintain or ins pect the serv o amplif ier and ser vo motor unt il .
A - 2 1. To prevent electric shock, note the follow ing : WARNING Befor e wirin g or insp ection, s witc h power off and wait f or more th an 10 m inutes. Then, c onfirm the vol tage is saf e with v oltage t ester. Otherwis e, y ou ma y get an e lectric shock .
A - 3 4. Additional instruct ions The fol lowing ins tructions sho uld als o be ful ly noted . Incor rect han dling may ca use a fa ult, inj ury, el ectric shock , etc. (1) Transportation and installation CAUTION Trans port the pro ducts correc tly accor ding to their weights .
A - 4 (2) W i rin g CAUTION W ire the equi pment cor rectly and s ecurel y. Other wise, the servo motor m ay m isoperate. Do not instal l a power capac itor, s urge abs orber or radi o noise f ilter ( FR-BI F opti on) bet ween the s ervo m otor and ser vo am plifier .
A - 5 (5) Co rrectiv e actions CAUTION W hen it is ass umed th at a haza rdous c ondit ion m ay take p lace at the occ ur due to a p ower fai lure or a produc t fault, use a s ervo m otor with electr omagnet ic brak e or an extern al br ake m echanis m for the pur po se o f p reven ti on .
A - 6 About processing of waste W hen you disc ard ser vo ampl ifier, a batter y (prim ary ba ttery), a nd other opt ion art icles, pl ease fo llow th e law of each c ountr y (area) .
A - 7 COMPLIANCE WITH EC DIRECTIVES 1. WHAT AR E EC DI RE C TIVES ? The EC directives were issu ed to standardize the regulations of t he EU countries and ensure smooth distribution of safet y-guaran teed products.
A - 8 (5) Grounding (a) To prevent an electric shock, always connect the protecti ve earth (PE) terminals (marked ) of the servo amplifier to the prot ec tive e arth (PE) of t he control box. Connect P E terminal of the control box to the NEUTRAL of a power supply.
A - 9 CONFORMANCE WITH UL/C-UL STANDARD (1) Ser vo am plifiers and ser vo m otors us ed (Acqu isition schedu le) Use the servo amp lifiers and servo motor s which comp ly with t he stand ard mode l. Servo amplifi er :MR-E-10A to MR-E-200A Servo motor :HC-KFE HC-SFE (2) Installation Install a fan of 100C FM (2.
A - 10 MEMO.
1 CONTENTS 1. FUNCT IONS AND CO NFIGURATION 1- 1 to 1- 10 1.1 Intro duction............................................................................................................... ............................... 1- 1 1.2 Fu nction block diagram .
2 4. OP ERATIO N 4- 1 to 4- 6 4.1 Whe n switching power on for the firs t time ................................................................................. ......... 4- 1 4.2 Sta rtup ..............................................................
3 7.3 Manu al mode 1 (simple manual adjustme nt) ................................................................................... .... 7- 7 7.3.1 O peration of manual mo de 1 .........................................................................
4 13.2 Auxil iary equipment ....................................................................................................... ................... 13-2 1 13.2.1 Re commen ded wires .................................................................
5 15. MR -E- AG SERVO AMPL IFIER CO MPAT IBLE W ITH AN ALOG IN PUT 15- 1 t o 15- 6 2 15.1. Fun ctions and configurat ion.............................................................................................. ................ 15- 1 15.1.1 In troduc tion .
6 MEMO.
1 - 1 1. FUNCTIONS AND CONFIGURATI ON 1. FUNCTIONS A ND CONFIGURAT ION 1.1 Introduc tion The Mits ubishi MR-E series general-purpose AC servo is based on the M R-J2-Super series, and h as th e same high performance and limi ted functions. It has position control and i nternal speed control modes.
1 - 2 1. FUNCTIONS A ND CONFIGURAT ION 1.2 Func tion block diagram The function block diagram of this servo is shown below. Regenerative b rake option Servo amplifi er Current detector CHARGE lamp Ser.
1 - 3 1. FUNCTIONS A ND CONFIGURAT ION 1.3 Serv o amplif ier standard s pecif ications Servo Amplifier MR-E- Item 10A 20A 40A 70A 100A 200A Volta ge/frequen cy 3-phase 200 to 230VAC, 50/60H z or 1-pha.
1 - 4 1. FUNCTIONS A ND CONFIGURAT ION 1.4 Func tion list The foll owing table lists the functions of t h is servo. For details of the functions, refer to the corresponding chapter s and sec tions. Function Description (Not e) Control m ode Refer to Position control m o de This se rvo is used as p osition control servo .
1 - 5 1. FUNCTIONS A ND CONFIGURAT ION Function Description (Not e) Control m ode Refer to Alarm h i st ory clear Alarm h i st ory is clea red . P, S Paramet er No.
1 - 6 1. FUNCTIONS A ND CONFIGURAT ION 1.5 Mode l code def inition (1) Rating plate MR-E-40A MITSUBISH I AC SER VO MADE IN JAPA N MODEL MITSUBI SHI ELECT RIC CORP ORATION AC SERVO PASSED POWER INPUT OUTP UT SERIAL :400W :2.6A 3PH200-230V 50Hz :2.6A 3PH200-230V 60Hz :170V 0-360Hz 2.
1 - 7 1. FUNCTIONS A ND CONFIGURAT ION 1.7 Parts ident if ic ati on (1) MR-E-100A or less MODE CN3 SET CN1 CN2 CNP2 CNP1 L3 L2 L1 D C P W V U CHARGE MITS U BI SHI MR- Chapter6 Display The 5-dig it, seven-s egment LED show s the servo status and alarm number.
1 - 8 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-E-200A Refe r to Name/Applic ation Chap te r6 Displa y The 5-digit, seven-segment L ED shows the servo status and alarm numbe r. Used to set da ta. Used to change the display or data in each mode. Used to change the mode.
1 - 9 1. FUNCTIONS A ND CONFIGURAT ION 1.8 Servo system with auxiliar y equipm ent W ARNING To preve nt an e lectric s hock , always c onnect t he pr otective eart h (PE) ter minal (term inal m a rk ed ) of t he ser vo amplif ier to the pr otect ive earth ( PE) of the co ntrol box.
1 - 10 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-E-200A L 3 L 2 L 1 DC L 3 PL 1 L2 CHARGE CNP2 CNP1 CN1 CN2 U V W CN3 MODE SET MITS U B IS HI EZM o t i o n P C Options and au xiliary equipment No-fuse breaker Magnetic contactor Servo configurat ion software Reg ener ative optio n Refer to Section 13.
2 - 1 2. INSTALLATION 2. INSTALLA T ION CAUTION Stack ing in ex cess of the l imited n umber of prod ucts is no t allo wed. Instal l the e quipm ent to inc ombus tibles. Ins tallin g them direct ly or clos e to com bustibles will led to a fire. Instal l the equi pment in a load- bear ing place in accorda nce with this Instruc tion Manual .
2 - 2 2. INSTALLATION 2.2 Instal lation dir ection and clearances CAUTION The equ ipment m ust be insta lled in the s pecif ied direc tion. Ot herwise, a fault m ay occur. Leave s pecifie d clearanc es bet ween th e servo amplif ier and contro l box inside walls or other equi pment.
2 - 3 2. INSTALLATION (3) Others When using heat generat ing equipment such as t he regenerative brak e option, install them with full consideration of heat generati on so that the servo am plifier is not affected. Install the servo amplif ier on a perpendicul ar wall in the correct vert ical direction.
2 - 4 2. INSTALLATION MEMO.
3 - 1 3. SIGNALS AND WIRI NG 3. SIGNALS AND WIRING W ARNING Any per son who is involv ed in wir ing sh ould be f ull y compete nt to d o the work. Befor e starting wiring , switch power off , then wait f or mor e than 10 minut es, and after t he char ge lam p has go ne off, m ak e sure that the vol tage is s afe i n the tes ter or lik e.
3 - 2 3. SIGNALS AND WIRING 3.1 Standar d connect ion exam ple POINT Refer to Section 3.7.1 for the connection of t he power supply system and to Section 3.
3 - 3 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, al ways connec t t he protect i ve eart h (PE) terminal (terminal marked ) of the servo am plifier to the protecti ve eart h (PE) of the con trol box. 2. Connect the diode in the correct direction.
3 - 4 3. SIGNALS AND WIRING (2) AD75P (A1SD75P ) 26 8 24 5 21 4 22 7 23 3 25 6 1 20 12 14 35 16 13 15 11 2 36 19 VIN INP LZ CR PG NP NG RD SG PP LZR SD LG DOG COM RLS START CHG FLS STOP COM READY COM .
3 - 5 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, al ways connec t t he protect i ve eart h (PE) terminal (terminal marked ) of the servo am plifier to the protecti ve eart h (PE) of the con trol box. 2. Connect the diode in the correct direction.
3 - 6 3. SIGNALS AND WIRING (3) QD75D ( diff erentia l driv er) VIN LZ CR PG NP NG RD SG PP LZR SD LG 17 16 18 LA LAR LB LBR 15 4 3 SD 6 MO1 LG MO2 A A CN3 21 14 LG OP 8 4 3 6 7 13 EMG SON RES LSP LSN.
3 - 7 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, al ways connec t t he protect i ve eart h (PE) terminal (terminal marked ) of the servo am plifier to the protecti ve eart h (PE) of the con trol box. 2. Connect the diode in the correct direction.
3 - 8 3. SIGNALS AND WIRING 3.1.2 Int ernal speed c ontrol m ode 1 9 12 RA1 RA2 8 4 3 5 6 7 EMG SON ST1 ST2 LSP LSN SG 13 ALM ZSP CN3 VIN CN1 4 3 SD 6 MO1 LG MO2 10k 10k A A CN3 20 19 21 17 16 18 LZ L.
3 - 9 3. SIGNALS AND WIRING 3.2 Interna l connect ion diagram of ser vo amplifier The foll owing is the internal connec tion dia gram where the signal assignment has been made in the initial status in each contro l mode.
3 - 10 3. SIGNALS AND WIRING 3.3 I/O sign als 3.3.1 Connec tors and si gnal arrangem ents POINT The pin configura tions of the connectors a re as viewed from the cabl e connector wiring section.
3 - 11 3. SIGNALS AND WIRING (2) CN 1 signal assignm ent The signal assi gnment of connector changes with the control mode as indicated below; For the pins wh ich are given parame ter No.s in the related par ameter column, their signals can be changed using those parameters.
3 - 12 3. SIGNALS AND WIRING (3) Sy mbols and signa l na mes Symbol Signal name Symbol Signal name SON Servo -on ZSP Zero s peed LSP Forwar d rotation strok e end INP In positi on LSN Reverse r otatio.
3 - 13 3. SIGNALS AND WIRING 3.3.2 Sign al explanat ions For the I/O in terfaces (symbo ls in I/O column in the table), refer to Section 3.6. 2. In the control mode field of the tabl e P : Position control mode, S : Internal speed control mode : Deno tes th at the signal may be u sed in the in itial setting statu s.
3 - 14 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PS Internal torque limit selection TL1 When using this signal, make it usabl e by making the se tting of parame ter No. 43 to 48. (Ref er to (5), S ection 3.
3 - 15 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PS Emerg ency stop EM G CN1- 8 Disco nnect EM G-SG to b ring t he serv o motor to em ergen cy st op stat e, in which t he servo is switched off and th e dy na mic bra ke is operat ed.
3 - 16 3. SIGNALS AND WIRING (2) Output signals Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PS Troub le ALM CN1-9 ALM-SG a re d isco nnected when p o w er is sw itched off or the protective circuit is activated to shut off the base ci rcuit.
3 - 17 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PS To use t his signal, set " 1 " in parame ter No.49. This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
3 - 18 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PS Encod er Z- p ha se pulse (Open collector ) OP CN 1-21 Outpu ts the zer o-point signal of the enco der. One pulse i s o utput per servo mo tor revol ution .
3 - 19 3. SIGNALS AND WIRING 3.4 Deta iled desc ription of th e signals 3.4.1 Pos ition control m ode (1) Pul s e tr ai n in pu t (a) Input pulse waveform selection Encoder pulses may be input in any of th ree different forms, for which positive or negati ve logic can be cho sen.
3 - 20 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collect or system Connect as shown be low: SG SD OPC PP NP Servo amplifier App rox. 1.
3 - 21 3. SIGNALS AND WIRING 2) Diffe rentia l line dr iver sy stem Connect as shown be low: PP NP PG NG SD Servo amplifi er The explanat i on assumes t hat the in put waveform has been set t o the negative l ogic and forward and reverse rotati on puls e trains (par ameter No.
3 - 22 3. SIGNALS AND WIRING (2) In-position (INP) PF-SG are connected when the number of droop pulses in the deviati on counter falls within the preset in-posit ion range (paramet er No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the i n-positi on range.
3 - 23 3. SIGNALS AND WIRING (5) Torque limit (a) Tor que limit and torqu e By sett ing param eter No . 28 ( interna l tor que limi t 1), to rque i s alway s limi ted to the max imum value during operati on . A relations h ip between the li mit v alue and servo mo tor torque is shown below.
3 - 24 3. SIGNALS AND WIRING 3.4.2 Int ernal speed c ontrol m ode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters.
3 - 25 3. SIGNALS AND WIRING (b) Spe ed sele ction 1 (SP1) , spee d sele ction 2 ( SP2), speed selection 3 (SP 3) and speed comm and v alue By making spee d selection 1 ( SP1), speed se lection 2 (S P2) and speed se lection 3 ( SP3) u sable by setti ng of parameter No.
3 - 26 3. SIGNALS AND WIRING 3.4.3 Pos ition/inter nal speed c ontrol chang e mode Set "00 01 " in param e ter N o. 0 to swi tch to the p o sitio n/ inter nal spe ed con tro l ch ang e mo de. Th is fu nct ion is not ava ilab le in the abso lute po sition de tectio n syste m.
3 - 27 3. SIGNALS AND WIRING (3) I nternal s peed set ting i n speed c ontro l mode (a) Speed command and speed The servo mo tor is run at the s peed set in parameter No. 8 (internal speed command 1) the forward rotatio n start sign al (ST1) and reverse rotation start signal (S T2) are as in (a), ( 1) in section 3.
3 - 28 3. SIGNALS AND WIRING 3.5 Alarm occur rence timing c hart CAUTION W hen an alarm has oc curred , remov e its c ause, m ake sur e that t he oper ation sign al i s not be ing in put, en sure safety , and reset the alarm before r est arting operat ion.
3 - 29 3. SIGNALS AND WIRING 3.6 Interf aces 3.6.1 Comm on line The foll owing diagram shows the power supply and its common l ine. CN1 CN1 DO-1 SG OPC SG SD OP LG MR MRR SD SM DI-1 VIN LG SD CN3 RA CN2 SD MO1 MO2 LG SG TXD RXD RS-232C LG ALM, et c .
3 - 30 3. SIGNALS AND WIRING 3.6.2 Detai led descript ion of the interfac es This s ec ti on g ives the deta ils of the I/O signal interfaces (refer t o I/O Divisi on in the table) indi cated in Section s 3.3.2. Refer to this sec tion and conn ect the interfac es with th e extern al equip ment.
3 - 31 3. SIGNALS AND WIRING (b) Lamp load VIN SG R Servo amplifier ALM, e t c . Exter nal power supply 24VDC 10% (3) Pul s e trai n in pu t inte r fac e DI- 2 Provide a pulse train signal i n the open collector or differential line driver syst em. (a) Open collector s ystem 1) Inte rface VIN PP, NP SG SD Servo amplifier Max.
3 - 32 3. SIGNALS AND WIRING (b) Differential line driver syst em 1) Inte rface SD PG(NG) PP(NP) Max. input pulse frequency 500kpps Serv o am plif ier Am26LS31 or equivalent About 100 2) Condit ions of th e input pulse 0.9 PP PG tc tHL tc tLH tF tLH tHL 0.
3 - 33 3. SIGNALS AND WIRING (b) Differential line driver syst em 1) Inte rface Max. output current: 35mA LA (LB, LZ) LAR (LBR, LZR) LG SD LA (LB, LZ) LAR (LBR, LZR) SD Servo amplifi er Servo amplifi .
3 - 34 3. SIGNALS AND WIRING 3.7 Input power suppl y circuit CAUTION W hen the s ervo am plifier has bec om e fault y , switc h po wer off on the s ervo amplif ier p ower si de. Con tinuous flow of a larg e curr ent ma y cause a fire. Use the tro uble signa l to sw itch po wer off .
3 - 35 3. SIGNALS AND WIRING (2) For 1-phas e 230VA C power s uppl y Powe r s upp ly 1-phase 230VAC Emergency stop Servo-on Servo amplifier Trouble Emergency stop Exte r n al power supply 24VDC RA OFF.
3 - 36 3. SIGNALS AND WIRING 3.7.3 Power -on seque nce (1) Po wer-on proce dure 1) Alw ays wire the po wer sup ply as shown in above Section 3.7.1 u sing the magn etic contactor wi th the power s upply (t hree-pha se 2 0 0V: L 1 , L 2 , L 3 , single- phase 230V: L 1 , L 2 ).
3 - 37 3. SIGNALS AND WIRING 3.8 Conn ection of s ervo am plifier and s ervo m otor 3.8.1 Connec tion instr uctions W ARNING Insulate the con nections of th e power s uppl y termina ls to pre vent a n electr ic shock . CAUTION Connec t the wires to the corr ect phas e term inals ( U, V, W ) of the servo amplifi er and ser vo m otor.
3 - 38 3. SIGNALS AND WIRING Servo m otor Connection diagram HC-KFE13 (B) to 73 (B) U V W Servo amplifier B1 B2 24VDC EMG CN2 (Note 1) Encoder Ele ctro- magnetic brake To be shut off when se rvo on signal switches off or b y alarm s ignal Encoder c able U (Red) V (White) W (Black) (Green) Motor Servo motor (Note2) CNP2 Note:1.
3 - 39 3. SIGNALS AND WIRING 3.8.3 I/O term inals (1) HC-KFE series 24 13 4 Power s upply co nnector (molex ) Witho ut electromagnet i c b rake 5557-04 R-210 (recept acle) 5556 P B TL (Fem ale term inal ) With e le ctromagnetic br ake 5557-06 R-210 (recept acle) 5556 P B TL (Fem ale term inal ) Encoder cable 0.
3 - 40 3. SIGNALS AND WIRING (2) HC-SFE series Servo motor side connectors Servo motor For pow er supply For encoder Elect romagne t ic brake connector HC-SFE52(B) to 152(B) CE05-2A22- 23PD-B The c onnect or for power is shared.
3 - 41 3. SIGNALS AND WIRING 3.9 Serv o motor with electrom agnetic brak e CAUTION Configur e th e electrom agnet ic brak e oper ation circ uit so that it is ac tivated no t onl y by the ser vo amplif ier signa ls but also b y an extern al emerge ncy stop s ignal.
3 - 42 3. SIGNALS AND WIRING (3) T i m ing charts (a) Servo-on signal comm and (from controller) ON/OFF Tb [ms] after the servo-on (S ON) signal is swit ched off, the servo lock is released and the servo motor coasts. If the electr om agnetic brak e is made valid in the servo lock status, the b r ake li fe may be shorter.
3 - 43 3. SIGNALS AND WIRING (c) Alarm occurrence Servo motor speed ON OFF Base cir cuit Electromagnetic brake inte rlock (MBR) Invalid (ON) Valid( OFF) Trouble (ALM) No(ON) Yes(O FF) Dynamic brake Dy.
3 - 44 3. SIGNALS AND WIRING 3.10 Gro unding W ARNING Ground th e serv o ampl ifier a nd ser vo motor securel y. To pre vent an electric shock , alwa y s con nect the protec tive ear th (PE) term inal of the ser vo am plifier with the p rotect ive e arth (P E) of th e contr ol box.
3 - 45 3. SIGNALS AND WIRING 3.11 Ser vo amplif ier connect ors (CNP1, CNP 2) wiring m ethod (W hen MR-ECPN1-B an d MR-ECPN2-B of an option ar e used.) (1) T erminati on of t he cabl es Solid wire: After the shea th has been stripped, t he cable can be used as it is.
3 - 46 3. SIGNALS AND WIRING (2) I nsertin g the ca ble in to the c onnect or (a) Applicable flat-blade screwdriver d imensions Always use the screwdriver s h own here to do the work. [Unit: m m] 3 0.6 (R0.3) (22) (R0.3) 3 to 3.5 (b) When using the flat-blade screwdriver - part 1 1) Insert the screwdriver into the square hole.
3 - 47 3. SIGNALS AND WIRING (c) When using the flat-blade screwdriver - part 2 1) Insert t he screwdriver in to the square window at top of the connect or. 2) Push the screwdriver in the di r ection of arrow. 3) With the scre wdriver pushed, insert the cable in the direction o f ar row .
3 - 48 3. SIGNALS AND WIRING 3.12 Instr uctions f or the 3M con nector When fabricati ng an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plat e as shown in this section and fi x it to the connector shell.
4 - 1 4. OPERATION 4. OPERATION 4.1 W hen switching po wer on f or the first tim e Before starti ng operation, check the followi ng: (1) W iring (a) A correct power supply is connected to the power input termin als (L 1 , L 2 , L 3 ) of the servo amplifier .
4 - 2 4. OPERATION 4.2 Startup W ARNING Do not oper ate the s witches wit h wet hands. You may get an e lectric sh ock. CAUTION Befor e starti ng oper ation, c heck th e param eters. Some m achin es ma y perform unexpec ted oper atio n. Duri n g powe r- on fo r so me a fte r powe r- o ff, do no t tou ch or cl o se a pa rt s (c able et c.
4 - 3 4. OPERATION (4) Servo-on Switch t he servo-on in the following procedure: 1) Switch on power supply. 2) Switch on the servo-on signal (SON). When placed in the servo-on status, t he servo amplifier is ready to operate a nd the servo motor is locked.
4 - 4 4. OPERATION 4.2.3 Int ernal speed c ontrol m ode (1) Power on 1) Switch off the servo-on (SON) signal. 2) When c ircuit power is switched on, the displa y shows " r (servo motor speed)", and in two second later , show s data.
4 - 5 4. OPERATION (6) Stop In any of the followin g statuses, the s ervo amplifier interrupts and stops the operati on of the servo motor: Refer to Section 3.
4 - 6 4. OPERATION MEMO.
5 - 1 5. PARAMETERS 5. PARAME TERS CAUTION Ne ver adjust or change the par ameter values ex tremel y a s it will m ake operatio n instab le. 5.1 Param eter list 5.1.1 Par ameter writ e inhibit POINT After se tting the parameter No. 19 value, switch po wer of f, then o n to make tha t setting valid.
5 - 2 5. PARAMETERS 5.1.2 Lists POINT For any para meter whose symbol is preceded b y *, set the paramet e r value and s witch power off once, then switch i t on aga i n to mak e t h at parameter se tting valid.
5 - 3 5. PARAMETERS No. Symbol Name Control mode Initial value Unit Cust omer setti ng 20 *OP2 Function sele ction 2 P S 0000 21 *OP3 F unction selection 3 (Command pulse selection) P 0000 22 *OP4 Fun.
5 - 4 5. PARAMETERS No. Symbol Name Control mode Initial value Unit Cust omer setti ng 50 For manufacturer setting 0000 51 *OP6 Function sele ction 6 P S 0000 52 For manufacturer setting 0000 53 *OP8 .
5 - 5 5. PARAMETERS (2) Details li st Class No. Symbol Name and function Initial value Unit Setting range Control mode Control mod e , reg enerative brake op tion selection Used to select the control mode and rege nerative bra ke opti on. Select the control mode.
5 - 6 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 2 ATU Auto t uning Used to s election the respo nse level, etc. f or executi o n of auto tuning. Refer to Chapte r 7. Auto tuni ng res p on se level setting If the machin e hunts or generates large gear soun d, decr ease the set value.
5 - 7 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 5 INP In-position range Used to s et the i n-positi on signa l (INP ) ou tput range i n the c ommand pul se in cre m ent s pr io r to e le ct r o nic gear c alc u lat io n.
5 - 8 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 9 SC2 Internal speed command 2 Used to set sp eed 2 of inter nal spe ed co mmands. 500 r /min 0 to instan- tane ous permi- ssible speed S 10 SC3 Internal speed com m and 3 Used to set sp eed 3 of inter nal spe ed co mmands.
5 - 9 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 14 For manufactur er setting Don’t change this value by an y me ans. 0 15 *SNO Station number s etting Used to sp ecify the station number for serial communication .
5 - 10 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 18 * DMD St a tus disp l ay se lec tion Used to select t he status display shown at p ower-on.
5 - 11 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 20 *OP2 0000 Refer to Name and funct ion column. S P S Function s e lection 2 Used to select restart aft e r instanta neous power failure, servo lock at a stop in in ternal speed control mode, and slight vibration suppressi o n c o ntrol.
5 - 12 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 22 *OP4 Function selecti on 4 U se d t o s e le c t s t op p r o c es s i n g at f o r w a rd r o t at i o n s t r o k e e n d ( L S P) reverse rotation stro ke end (LSN) off and choose TLC/VLC output .
5 - 13 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 27 *ENR Encod er output pu l s es Used to set t he enc oder pu lses (A -ph ase or B- pha se) out put by th e servo amplifier. Se t the v alue 4 tim e s gre ate r than the A - phas e or B -pha se pu lses.
5 - 14 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 35 PG2 Position loop gain 2 Used to set t he gain of the positi on l oop. Se t this par amete r to in cre ase th e pos itio n re spons e to leve l lo ad disturbance.
5 - 15 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 42 *DI1 0002 Refer to Name and funct ion column. P/S Expansio n parameters 1 Input signal sele ction 1 Use d to ass i gn t he control mode c h anging signal in pu t pi ns an d t o set the cl ea r (C R ) .
5 - 16 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode Expansi o n paramet ers 1 43 *DI2 Input signal selection 2 (CN1-4) Allows any input signal t o be assi gned to CN 1-pin 4. Note that t he setting digit and as signed signal differ according to the control mode.
5 - 17 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 44 *DI3 Input signal selection 3 (CN1-3) Allows any input signal t o be assi gned to CN 1-pin 3. The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
5 - 18 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 47 *DI6 Input signal sele ction 6 (CN1-7) Allows any input signal t o be assi gned to CN 1-pin 7. The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
5 - 19 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode Expansio n parameters 1 49 * DO1 Output sig n al selection 1 Used to select t he connector pins to output the alarm code and warning (WNG). Setting of alarm code output Connector pins Set value CN1-10 CN1-11 CN1-12 0I N P o r S A RD ZSP 1 88888 AL.
5 - 20 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 50 For manufactur er setting Don’t change this value by an y me ans. 0000 51 *OP6 Function selecti on 6 Used to sele ct th e operati on to b e perfor med when the re set (RE S) switch es on.
5 - 21 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 55 *OPA Function s e lection A Used to sele ct t he p ositi on co mmand accelera tion/d ecelerat ion t ime constant (paramet e r No. 7) c ontrol syst em.
5 - 22 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 60 LPF Low -pass filter/adaptive vibration suppression co ntrol Used to selection t he low-pass filter and adap tive vibration supp ression contr ol.
5 - 23 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 65 *CDP Gain changing selection Used to select the gain changing condition. (Refer t o Section 8.5.) 0 00 Gain changing selection Gains are changed in acc ordance with the settings of parameters No.
5 - 24 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 73 SC5 Internal speed com m and 5 Used to set sp eed 5 of inter nal spe ed co mmands. 300 r/min 0 to in- stanta- neous perm i- ssible speed S 74 SC6 Internal speed com m and 6 Used to set sp eed 6 of inter nal spe ed co mmands.
5 - 25 5. PARAMETERS 5.2 Deta iled desc ription 5.2.1 Elec tronic gear CAUTION W rong sett ing ca n lead to unexpe cted fas t rotat ion, ca using i njur y .
5 - 26 5. PARAMETERS (2) C onveyor settin g exam ple For rotation in incremen ts of 0.01 per pul se Machine sp ecificatio ns Table : 36 0 /rev Reduction ratio: n 1/18 Servo motor resolution: P t 10000 [pulse s/re v] Table Timing belt : 4/64 Servo mo tor 10000 [p ulse/rev] CDV CMX Pt 10000 0.
5 - 27 5. PARAMETERS (2) Set content The servo amplifier is factory-s et to output the servo motor speed to Analog monitor 1 (MO1) and the torque to Analo g moni tor 2 ( MO2). The sett ing can be chang ed as li sted be low by c hanging the parameter No.
5 - 28 5. PARAMETERS (3) Ana log m onitor b lock diagram PWM M Current control Speed control Current comm and Position control Dr oop pu ls e Differ- ent ial Command pulse frequency Bus voltage Speed .
5 - 29 5. PARAMETERS 5.2.3 Usin g forward/r everse rota tion strok e end to cha nge the stopp ing pattern The st opp ing pattern is factory-s e t to make a sudden stop when the forward/reverse rotation st roke end is made valid. A slow stop can be m ade by changing the p arameter No.
5 - 30 5. PARAMETERS 5.2.5 Pos ition sm oothing By setting the po sition command acceleration/dece leration time constant (parame ter No.7), you can run the servo motor smoothly in response to a s udden position command.
6 - 1 6. DISPLAY AND O PERATION 6. DISPLAY AND OPERATION 6.1 Displ ay flowchart Use the display (5-digit, 7-segment LE D) on the front panel of the servo ampli f ier for status dis play, paramete r setting , etc. Set the parame ters befo re operation , diagnose an al arm, confir m exter nal sequences, a nd/or confirm the operation status.
6 - 2 6. DISPLAY AND OPER ATION 6.2 Status disp la y The servo status during operation is shown on the 5-di git, 7-segment LED display. Press t he "UP" or "DOW N" bu tton to ch ange d isp lay da ta as d esire d. Wh en the requ ired d ata i s sele cted, the cor respo ndin g symbo l appear s.
6 - 3 6. DISPLAY AND OPER ATION 6.2.2 St atus displa y list The foll owing table lists the servo status e s t h at may be s hown: Name Symbol Uni t Descripti on Displa y range Cumulative feedback pulse s C pul se Fe edback pulses from t he serv o motor encoder are cou nted and disp layed.
6 - 4 6. DISPLAY AND OPER ATION Name Symbol Uni t Descripti on Displa y range Within one-revoluti o n posit i on h igh Cy2 100 pulse Th e withi n one-revolution position is displayed in 100 pulse incr em en t s of the en cod er. The va lue r eturns t o 0 when it exce eds the maxi mum numb er of pulse s.
6 - 5 6. DISPLAY AND OPER ATION 6.3 Diagnos tic mode Name Di splay Descrip tion Not r eady. Indicates that the servo amplifier is be ing initializ e d o r an ala rm has occurred. Sequence Ready. Indi cates tha t th e servo w as switc hed on aft er compl etion of initialization and the se rvo amplifier is ready to oper ate.
6 - 6 6. DISPLAY AND OPER ATION 6.4 Alarm mode The current alarm, past al arm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number tha t has occurred or the parameter num ber in error. Display example s are shown below.
6 - 7 6. DISPLAY AND OPER ATION 6.5 Param eter m ode The parameters whose abbr eviations are marked* are made valid by chang ing the setting and then switching power off once and switching it on aga in.
6 - 8 6. DISPLAY AND OPER ATION 6.6 Externa l I/O signa l displa y The ON/OFF stat es of the digital I/O s ign als connected to the servo amplifi er can be confirmed. (1) Operation Call t he display screen s hown after power-on. Using the "MODE" b utton, show the diag nostic screen.
6 - 9 6. DISPLAY AND OPER ATION (3) De fa ul t si gn al indi ca tio n s (a) Position control mode Lit: ON Extinguished: OFF Input signals Output signals CR (CN 1-5) Cle ar RES (CN 1-3) Rese t SON (CN .
6 - 10 6. DISPLAY AND OPER ATION 6.7 Output s ignal (DO) forced ou tput POINT When the servo system is used i n a vertica l lift appli cat ion, turni ng on the electromagnet ic brake interl ock (MBR) after assigni ng it to pin CN1-12 will release the electr omagnetic brake, causing a drop.
6 - 11 6. DISPLAY AND OPER ATION 6.8 Tes t operation m ode CAUTION The test operat io n mode is d esig ned to c onfir m serv o ope rat ion and not t o co nfir m ma chine opera tion. I n this mode, d o not us e the servo motor wit h the mac hine. Alwa ys use the servo m otor alone.
6 - 12 6. DISPLAY AND OPER ATION 6.8.2 Jog o peration Jog operation can be performed when there is no command from the external comm and devi ce. (1) Operation Conne ct EMG- SG to start j og ope ration to use the in ternal p ower supply . Hold do wn the "UP " or "DOW N" butto n to run the serv o motor.
6 - 13 6. DISPLAY AND OPER ATION 6.8.3 Pos itioning oper ation POINT The servo configuration soft ware is required to perform positioning operation. Positioni ng operation can be performed once when th ere is no command from the external command device.
6 - 14 6. DISPLAY AND OPER ATION 6.8.4 Motor -less operati on Without connec tin g t he servo motor, you can provide output signals or monitor the status dis play as if the servo motor is running in response to external input s ignals. This operation can be u sed t o check the sequence of a host program mable contro ller or the like.
7 - 1 7. GENERAL GAI N ADJUSTMENT 7. GENERAL GAIN ADJUS T MENT 7.1 Diff erent adjustm ent methods 7.1.1 Adjus tment on a single s ervo am plifier The gain ad justmen t in this sectio n can be made on a single servo amplif ier. For ga in adjustmen t, fir st execute a uto tuning mode 1.
7 - 2 7. GENERAL GAIN ADJUSTMENT (2) Adj ustment seque nce and mode us age Usage Used when yo u want t o match the p o sition gain (PG1) be tween 2 or more axes. No rmally n ot u s ed for other purpos es. Allows adjustment by merely chan gin g th e re spon se le ve l se t ting .
7 - 3 7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto t uning m ode The servo amplifier has a real -time auto tuning function which estimates the machine chara cteristic (load inerti a momen t ratio) in real time an d au tomati cally se ts the optim um gain s acco rding to th at value .
7 - 4 7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto t uning m ode operation The block dia gram of real-t ime auto tuning is shown bel ow. Servo motor Comma nd Automa tic sett ing Control gains PG1, VG1 PG2,VG.
7 - 5 7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjus tment proc edure b y auto tunin g Since auto tuning is made valid before shipment from the factory, simply running the servo mo tor autom atica lly se ts the o ptimum gain s that match the m achine . Mere ly chan ging the resp onse level setting value as require d comple tes the adju stment.
7 - 6 7. GENERAL GAIN ADJUSTMENT 7.2.4 Respo nse level s etting in auto tuning m ode Set the response (The first digit of parameter No.2) of the whole servo system. As the re spons e level setting is increased, the trackability and settling time for a command decre as e s , but a too high response level w i ll g en e r ate v ibr ation.
7 - 7 7. GENERAL GAIN ADJUSTMENT 7.3 Manual m ode 1 ( simple m anual adj ustment) If you a re not satisfied with the adjustment of auto tuning, you c an make simple manual adjustment with three parameters.
7 - 8 7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed contro l gain 2 ( parame ter No. 3 7) This p aramet er det erm ines the response level of the speed control loop. Increasing this value enhances res pon se b ut a too high value will make the mechani c al s ystem liable to vib r at e.
7 - 9 7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Po sition co ntrol g ain 1 (p arameter No . 6) This paramet er determines t he response level of the positi on control loop.
7 - 10 7. GENERAL GAIN ADJUSTMENT 7.4 Interpo lation m ode The i n terpolation mode is used to match the position control gains of the axes when performing the interpolati o n operat ion of s ervo motors of two or more axes for an X-Y table or the like.
8 - 1 8. SPECIA L ADJUSTMENT FUNCTI O NS 8. SPECIAL A DJUST MENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use t hem if you are not sat isfied with the mach ine sta tus after m aking adjustm ent in the me thods in Ch apter 7.
8 - 2 8. SPECIAL ADJUSTMENT FUNCT IONS You can use the machine resonance suppression filter 1 (paramet er No. 58) and machine resonance suppression filt er 2 (paramet er No.
8 - 3 8. SPECIAL ADJUSTMENT FUNCT IONS POINT If the frequency of machine resonance i s unknown, decrease the notch frequency from higher t o lower ones in order.
8 - 4 8. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters The op eration of adapt ive vi bration sup pressio n contro l selec tion (p arameter No .60). Pa rame te r N o.
8 - 5 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5 Gain c hanging f unction This function can change the gains. You can change between gains during rotation and gains during stop or can use an external input signal to change gains during operation.
8 - 6 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5.3 Par ameters When using the gain changing function, always set " 4 " in parameter No.2 (au to tuning) to choose the manual mode of the gain adjustment modes . The gain changing function cannot be used in the auto tuning mode.
8 - 7 8. SPECIAL ADJUSTMENT FUNCT IONS (1) Para m eters No. 6 , 3 4 to 38 These paramet ers are the same as in ordina ry manual adjustment. Gai n changing allows the val ues of ratio of load inertia moment to servo motor inertia moment, position control ga in 2, speed control gain 2 and speed in tegral compen sation to be ch anged.
8 - 8 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5.4 Gai n changing o peration This op eratio n will be descri bed by w ay of se tting e xample s. (1) W hen you c hoose c hanging by exter nal i nput (a) Setting Parameter No.
8 - 9 8. SPECIAL ADJUSTMENT FUNCT IONS (2) W hen you choose chan ging b y droop p ulses (a) Setting Parameter No. Abbrevi at i on Nam e Setting Unit 6 PG 1 Position control gain 1 100 rad/ s 36 VG1 Speed c on t r ol gai n 1 1000 r ad/s 34 GD2 Rat io of load inerti a mom ent to servo motor inertia moment 40 0.
8 - 10 8. SPECIAL ADJUSTMENT FUNCT IONS MEMO.
9 - 1 9. INSPECTION 9. INSPECTION W ARNING Befor e starti ng maint enanc e and/ or inspec tion, m ake sur e that th e charg e lam p is off more th an 10 m inutes af ter po wer-off . Then, co nfirm that the voltage is saf e in the t ester or t he lik e.
9 - 2 9. INSPECTION (c) Servo amplifie r cooling f an The cooling fa n bearings reach the end of their life i n 10,000 to 30,000 hours. Norm ally, therefore, the fan must be changed in a few years of continuous operat ion as a gui delin e. It mus t also be changed if unu sual no ise or v ibration is foun d during inspe ction.
10 - 1 10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Troub le at start- up CAUTION Exc essive a djustm ent or c hange of param eter se tting m ust not be m ade as it will mak e operat ion inst able. POINT Using the optional servo configuration software, you can refer to unrotated servo motor reasons, etc.
10 - 2 10. TROUBLESHOOTING No. Start -up sequence Fault Invest igation Possibl e cause Refer t o Rotation ripples (sp eed fl uctuati ons) are la rge at low speed . Make gain adjustment in the follow ing pr ocedur e: 1. Inc rease the a uto tu nin g respons e level.
10 - 3 10. TROUBLESHOOTING (2) H ow to find the c ause of p ositio n shift Positioning unit (a) Outp ut pulse counte r Q P CMX CDV (C) Servo-on (SON), s troke e nd (L SP/LSN) i nput (A) (b) Cu mulative comma nd p ulse s Electronic gear (parame ters No.
10 - 4 10. TROUBLESHOOTING 10.1.2 In ternal speed c ontrol m ode No. Start -up sequence Fault Inves tigation Poss ible cause Refer t o Not i mproved i f conn ectors CN1, CN2 and CN3 are discon nected. 1. Power supply voltage fault 2. Servo amplifier is faulty.
10 - 5 10. TROUBLESHOOTING 10.2 W hen alarm or warning has oc curred POINT Configu re up a circuit w hich will d ete ct th e tro uble ( A LM) signal and turn off the servo-o n (SON) signal at occurrence of a n alarm. 10.2.1 Alar ms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed.
10 - 6 10. TROUBLESHOOTING 10.2.2 Rem edies for al arms CAUTION W hen an y alarm has occurre d, el iminat e its c ause, ens ure saf ety, th en rese t the alarm , and rest art op eration.
10 - 7 10. TROUBLESHOOTING Display Name Definition Cause Action AL.1A Mo tor combin ati on error Wrong combinat ion of servo anplifier and servo motor. Wrong combina tion of serv o ampl i fier an d servo mo tor con necte d. Use co rrect com binat ion.
10 - 8 10. TROUBLESHOOTING Display Name Definition Cau s e Action 1. Input co mm and pulse frequen c y exce eded th e per missibl e instantaneous sp e ed freq uency. Set comman d pu lses correctl y . 2. Small acceleration/deceler ation time constant caused overshoot to be large.
10 - 9 10. TROUBLESHOOTING Display Name Definition C ause Action 1. Serv o amplifi er faul t caus ed the parameter setting to be rew r itte n. Change the servo amplifier. 2. Regenerative bra ke option or servo motor not used with servo amplifier was selected in param eter No.
10 - 10 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Mac hine st ruck so methi ng. 1 . Review opera tion p attern. 2. Install limit switch e s. 2. Wr ong conn ection of s erv o motor. Servo amplifier's output t e rminals U, V, W do not ma t ch se rv o mo tor' s inpu t term ina l s U, V, W .
10 - 11 10. TROUBLESHOOTING 10.2.3 Rem edies for warnings If AL.E6 occur s, the servo off status is establi shed. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Use the op tional servo configuration software to refer t o the cause of warning.
10 - 12 10. TROUBLESHOOTING MEMO.
11 - 1 11. OUTLINE DIMENSION DRAWINGS 11. OUTLINE DIMENSION DRA W INGS 11.1 Servo am plifiers (1) MR-E-10A MR-E-2 0A 6 (0.24) 156 (6.14) 135 (5.32) 50 (1.97) 6 (0.24) 70 (2.76) 6 ( 0.24) Weight: 0.7 [kg] (1.54 [lb]) [Un it: mm] ([Un it: in]) 168 (6.61) PE termi n al s Terminal screw: M4 Tightening torque: 1.
11 - 2 11. OUTLINE DIMENSION DRAW INGS (2) MR-E-4 0 A 156 (6.14) 22 (0.87) 135 (5.32) 168 (6.61) 6 (0.24) Weight: 1.1 [kg] (2.43 [ lb]) 6 ( 0.24) [Unit: m m] ([Un it: in ] ) 70 (2.76) 70 (2.76) PE ter minals Terminal screw: M4 Tightening torque: 1.2 [N m] (169.
11 - 3 11. OUTLINE DIMENSION DRAW INGS (3) MR-E-7 0 A MR-E -100A (0.24) 70 (2.76) 190 (7.48) 25 (0.98) 159 (6.26) 42 (1.65) 22 (0.87) 156 (6.14) 6 ( 0.2 4) Weight: 1.7 [kg] (3.75 [lb]) 70 (2.76) 6 [Un i t: m m ] ([Unit: i n ]) 168 (6.61) PE te rminals Terminal screw: M4 Tighte ning torqu e: 1.
11 - 4 11. OUTLINE DIMENSION DRAW INGS (4) MR-E-200A 90 (3.54) 78 (3.07) 168 (6.61) 156 (6.14) 70 (2.76) 195 (7.68) 6 (0.24) Weight: 2.0 [kg] (4.41 [ lb]) [Unit: m m] ([Un it: in ] ) 156 (6.14) 40 (1.58) 6 ( 0.24) PE ter minal Terminal screw: M4 Tightening torque: 1.
11 - 5 11. OUTLINE DIMENSION DRAW INGS 11.2 Connectors (1) Servo amplifie r side <3M > (a) Soldered type Mod el Connector : 10126-3000VE Shell kit : 10326-5 2F0-008 [Un it: m m] ([Unit: i n ]) 10.0 (0.39) Logo, etc. are i ndicated here. 12.0(0.47) 22.
11 - 6 11. OUTLINE DIMENSION DRAW INGS (2) CN2 Connector Connecto r housing : 54593-10 11 Cover A : 54594- 1015 Cover B : 54595- 1005 Shell co ver : 589 35-1000 Shell body : 58934- 1000 Cable c lamp : 58934-00 00 Screw : 58203-00 10 12. 5 (0.49) 40 (1.
11 - 7 11. OUTLINE DIMENSION DRAW INGS (4) CNP1 CNP2 C onnector (molex ) (a) Insulation displacement type [Unit: mm] ([Unit: in]) Variable Dim ensi ons [mm] ( [in]) Connector AB Number of Poles Applica tion 51240-0300 17.8 (0.70) 10 (0.39) 3 CNP 2 (1kW or less) 51240-0600 32.
11 - 8 11. OUTLINE DIMENSION DRAW INGS (b) Insertion type [Unit: mm] ([Unit: in]) Variable Dim ensi ons [mm] ( [in]) Connector AB Number of Poles Applica tion 55757-0310 16.5 (0.65) 10 (0.39) 3 CNP 2 (1kW or less) 55755-0610 31.5 (1.24) 25 (0.98) 6 CNP 1 (1kW or less) 5 (0.
12 - 1 12. CHARACTERISTI CS 12. CHARA CTE RISTICS 12.1 Overl oad protec tion charac teristics An electroni c thermal relay is buil t in the servo ampli fier to protect t he servo motor and servo amplifi er from overloads.
12 - 2 12. CHARA CTERISTICS (2) H eat diss ipation area for encl osed ser vo ampl ifier The encl o sed con trol box (hereafter ca lled the control box) which will contain the servo amplifier should be design ed to ensu re that it s temper ature ri se is w ithin 10 at the ambient t emper a ture of 40 (104 ).
12 - 3 12. CHARA CTERISTICS 12.3 D y n amic br ake charac teristics Fig. 12 . 3 s hows the pattern in which the s ervo motor comes to a st op when the dynamic brake is operat ed . Use Equati on 12.2 t o calculate an approximate coast ing dista nce to a stop.
12 - 4 12. CHARA CTERISTICS 12.4 Enco der cable f lexing lif e The fl exing life of the cables is shown bel ow . This graph calculat ed v alues. Since th ey are not guaranteed value s, provid e a lit tle allow ance for these v alues.
13 - 1 13. OPTIONS AND AU XILIARY EQUIPMENT 13. OPTIONS AND AUXILIARY EQUIPMENT W ARNING Before co nnectin g any option or auxiliar y equi pment, m ake s ure that t he ch arge la m p is off more t han 10 minu tes afte r pow er-off, then confi rm t he vol tage with a tester or the like.
13 - 2 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) To make selection according to regenera ti ve energy Use the following method when regeneration occurs continuousl y in vertical motion applic ati ons or when it is desired to make an in-depth selection of the regenerat ive brake opti on: a.
13 - 3 13. OPTIONS AND AU X I LIARY EQU IPMENT Subtract the capacitor charging from the result of multiply ing the sum total of regenera tive energies by the inverse effi ciency to calculat e the energy consumed by the regenerati ve brake opti on.
13 - 4 13. OPTIONS AND AU X I LIARY EQU IPMENT (5) Outline drawing (a) MR-RB032 MR-R B12 LA 5 (0.20) LB TE1 6 (0.23) 6 (0.23) 156 (6.14) 168 (6.61) 144 (5.67) 12 (0.47) 6 (0.23) 12 (0.47) 20 (0.79) LD 1.6 (0.06) LC G3 G4 P C [Uni t: mm (in)] 6 (0.24) mounting h ole MR-RB TE1 Terminal block G4 G3 C P Terminal screw: M3 Tighte ning torqu e: 0.
13 - 5 13. OPTIONS AND AU X I LIARY EQU IPMENT (c) MR-RB50 [Unit: mm (in)] 7 14 slot 7(0.28) 12 (0.47) 116(4.57) 128(5.04) 17(0.67) 200(7.87) 2.3(0.09) 350(13.78) 325(12.80) Terminal block Terminal block G4 G3 C P Terminal screw: M4 Tightening torque: 1.
13 - 6 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.2 Cabl es and conn ectors (1) Cable make-up The followi ng cables a re used for connection with the servo motor and other models.
13 - 7 13. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic a tion 1) Standard encoder cable MR-EKCBL M-L Refer to (2) (a) in this section .
13 - 8 13. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic a tion 12) Analog mo nitor RS-232C branch cable MR-E3CBL15-P Connector: MP371/ 6 Co nnec tor: MJ372/6 (Marushin Mus e n Denki or equivalent) Analog monito r RS- 232C branch cable 13) Analog mo nitor RS-232C connecto r MR-ECN3 (In units of 20 p c s .
13 - 9 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) Encode r cable CAUTION If you hav e fabric ated t he encod er cab le, conn ect it correct ly. Other wise, m isoperati on or ex plosion m ay occ ur. POINT The encoder cabl e is not oil resis tant. Refer to Secti on 12.
13 - 10 13. OPTIONS AND AU X I LIARY EQU IPMENT Encoder cable of le ss than 30 m When fabricati ng an encoder cable, use the MR-ECNM connector set. Referring to the followin g wiri ng dia gra m , you can fa br icat e an enc od er ca bl e of up t o l ess th a n 30m .
13 - 11 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-EKCBL M-H (long flex life model) Use this encoder cable with the HC-KFE series s ervo motor. 1) Model explanation Long flex life Mode l: MR -EKCBL M-H Symbol Cable Length [m(ft)] Communication System 2 (6.
13 - 12 13. OPTIONS AND AU X I LIARY EQU IPMENT MRR MRR P5 LG 1 2 MR 3 4 3 7 9 SD 1 2 8 9 MR-EKCBL20M-H P5G MR MRR SHD P5E P5 LG 1 2 MR 3 4 3 7 9 SD 1 2 8 9 MR-EKCBL2M-H MR-EKCBL5M-H MR-EKCBL10M-H P5G MR MRR SHD P5E Servo amplifier side Encoder si de Plate Pl ate Servo amplifier side Encoder si de (Note) (Note) Note.
13 - 13 13. OPTIONS AND AU X I LIARY EQU IPMENT (c) MR-ESCBL M- L (standa rd f lex life model) These encoder cables are used with the HC-SFE seri es servo motors. 1) Model explanation Standard flex life Mode l: MR -ESCBL M-L Symbol Cable Length [m(ft)] Communication System 2 (6.
13 - 14 13. OPTIONS AND AU X I LIARY EQU IPMENT Encoder cable of 3 0m or more POINT The communicat ion sys tem of the encoder cable in thi s wiring diagram is the fo ur-wire type. Set "1 " in parameter No . 20. When fabricati ng an encoder cable, use the MR-ECNS connector set.
13 - 15 13. OPTIONS AND AU X I LIARY EQU IPMENT (d) MR-ESCBL M-H (long flex life model) MR-EN ECBL M-H (I P65/ IP67-compatib le, long flex life model) These encoder cables are used wit h the HC-SFE series servo motors. 1) Model explanation Long flex life Mode l: MR -ESCBL M-H Symbol Cable Length [m(ft)] Communication System 2 (6.
13 - 16 13. OPTIONS AND AU X I LIARY EQU IPMENT 2) Connection diagram For the pin assignment on the servo amplifier side, refer to Section 3.3.1. CN2 A B C D E F G H J K L M A B C MR D MRR E F G H J K L M N SHD P R LG S P5 T Servo amplifi er 50m(164.0ft) max.
13 - 17 13. OPTIONS AND AU X I LIARY EQU IPMENT Encoder cable of 3 0m or more POINT The communicat ion sys tem of the encoder cable in thi s wiring diagram is the fo ur-wire type.
13 - 18 13. OPTIONS AND AU X I LIARY EQU IPMENT (3) Co mmun i ca ti on cabl e POINT This cab le m ay not b e used with some personal computers. After fully examining t he signals of the RS-232C connect or, refer to thi s section and fabricate the cable.
13 - 19 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.3 Ana log m onitor, RS-232C branch cabl e (MR-E3CBL 15-P) (1) Usage The an alog moni tor, RS- 232C br anch cable (MR-E3CB L15-P) i s des igned for u se when a perso nal computer and analog monitor outputs are used at t he same time.
13 - 20 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.4 Ser vo configur ations sof tware The servo confi gura tion software (M R ZJW3-SETUP154E) uses the communication function of t he servo amplifier to perform parameter setting changes, graph display, test operation, etc.
13 - 21 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2 Auxil iar y equipm ent Alway s use the d evice s indic ate d in th is sec tion or equ iva lent. To comply wi th the EN Stan dard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard.
13 - 22 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) W ires for ca b les When f abricating a cable , use th e wire mo dels g iven in the follo wing ta ble or e quivalen t: Table 13.
13 - 23 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.2 No-f use break ers, fus es, magnetic c ontactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When u sing a fuse instea d of the no-fuse breaker, use the one having the speci ficati ons given in this s ection.
13 - 24 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.4 Re lays The followi ng relays should be used with the int erfaces: Interface Selection exam pl e Input signals (interface DI-1) signals To prevent defective contacts , use a relay for s mall signal (twin contacts).
13 - 25 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Redu ction te chnique s for ex ternal noi ses tha t cause the servo amplifier to malfu nction If there a re noise sources (such as a magnet ic con t.
13 - 26 13. OPTIONS AND AU X I LIARY EQU IPMENT Noise transm issi on rout e Suppression t echniques 1) 2) 3) When measuring instruments, receiv ers, s ensors, etc.
13 - 27 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the li ke near the servo ampli fi er is shown below. Us e this product or equival ent.
13 - 28 13. OPTIONS AND AU X I LIARY EQU IPMENT Outline drawing Earth plate Cla mp section diagram (Note)M4 screw 11(0.43) 3 (0.12) 6 (0.24) C A 6 22(0.87) 17.5(0.69) 35(1.38) 35 (1.38) L or less 10(0.39) 30(1.18) 7 (0.28) 24 0 0.2 Note: S crew hole for grounding.
13 - 29 13. OPTIONS AND AU X I LIARY EQU IPMENT (d) Line noise filter (FR-BSF01) This filter is effective in suppressing noises radiat ed fro m the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phas e current) especi ally wi thin 0.
13 - 30 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.7 Leak age current breaker (1) Selecti on method High-frequency chopper currents controlled b y pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supp ly.
13 - 31 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) S electio n exam ple Indicated below is an example of selecting a l eakage current break er under the followi ng conditions: SM NV Ig1 Iga Ig2 Igm Servo amplifier MR-E-40A 2mm 2 5m 2mm 2 5m Servo motor HC-KFE73 Use a leakage curren t breaker generally available.
13 - 32 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.8 EMC f ilter For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are la rge in leaka ge current.
14 - 1 14. SERVO MOTOR 14. SERVO MO TOR 14.1 Com pliance wi th the ov erseas sta ndards 14.1.1 Com plianc e with EC dir ec t iv es Use th e serv o motor compat ible with the EN S tandard .
14 - 2 14. SERVO MOTOR 14.2 Model nam e make- up (1) Name plate AC SERVO MOTOR HC-SFE152 INP UT 3A C 145V 8.2A MITSUBISHI ELECTRI C CORPO RA TION MADE IN JAPA N 2000r/m in IP65 CI.
14 - 3 14. SERVO MOTOR (b) HC-SFE series (middle inertia, middle capacity) Rated Output [W] Symbol G1 Symbol 10 500 1000 5 Series name Reduction gear None W ith out Electromagnetic brake Electrom agne.
14 - 4 14. SERVO MOTOR 14.3 Parts ide ntif ic at ion Lead type Name/Applic atio n Refer To Enc oder Section 14 .7.1 Enco de r ca bl e wit h encoder conn ector Sec tion 1 4.5 Servo m otor shaft Connector type Enco de r co nne c tor Powe r ca ble Power le ad (U, V, W) Earth lead Brake lead (for motor wit h electromagn etic brake) Secti on 14.
14 - 5 14. SERVO MOTOR 14.4 Installa tio n CAUTION Stack ing in ex cess of the l imited n umber of prod ucts is no t allo wed. Instal l the e quipm ent to inc ombus tibles. Ins tallin g them direct ly or clos e to com bustibles will led to a fire. Instal l the equi pment in a load- bear ing place in accorda nce with this Ins truct ion Manual .
14 - 6 14. SERVO MOTOR 14.4.1 Env ironmenta l conditions Environm ent Condition s [ ]0 t o 40 (n on-free zing) Ambient te mperature [ ] 32 to 104 ( non-freezi ng) Ambient hu midity 80%RH or less (non-.
14 - 7 14. SERVO MOTOR 14.4.3 L oad mounting precautio ns POINT During ass embling, the shaft end m ust not be ham mered. Doing so c an cause t he encoder to f ail. (1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end.
14 - 8 14. SERVO MOTOR 14.4.4 Per miss ible load for th e shaft POINT Do not use a rigid coup ling as it may appl y excessi ve bending l oad to the shaft, lea ding to shaf t breakage. (a) Use a flexi ble coup ling and make su re that the misal ignment of the sh aft i s less tha n the permissible radial lo ad.
14 - 9 14. SERVO MOTOR 2) Preci sion applic ation-comp liant Item Gear ratio HC-KFE 13(B) G2 HC-KFE23(B) G2 HC-KFE43(B) G2 HC-KFE7 3(B) G2 1/5 160 160 340 390 1/9 200 420 480 600 1/20 540 610 790 1040.
14 - 10 14. SERVO MOTOR 2) Preci sion applic ation-comp liant Item Gear ratio HC-SFE52( B) G2 H C -S F E 102(B) G2 H C -S F E 152(B) G2 HC-SFE20 2( B ) G2 1/5 833 833 833 1666 1/9 980 980 1960 1960 1/.
14 - 11 14. SERVO MOTOR 14.4.5 Pr otection fr om oil an d water (1) Ne xt, the servo moto r is no t wa terproo f (IP4 4). Do n ot su bject the se rvo mo tor to oil and wa ter. Espec ially fo r the HC-KFE serie s, do no t subj ect th e shaf t-throu gh po rtion to oil.
14 - 12 14. SERVO MOTOR (4) Do not use the servo motor with its cable soaked in oil or water. (Figure on the right) Cover <Incorrect> Capillary phenomenon Oil/water pool Servo motor (5) When th .
14 - 13 14. SERVO MOTOR 14.5. Connec tors used f or servo m otor wiring This s ec ti on gives connect or makeups on a n operati ng environment basis. Use t he models of the manufacturers given or equivalent.
14 - 14 14. SERVO MOTOR 3) For connection of brake 1) Plug Cable 1) Plug Cable 2) Connector for cable 2) Connector for cable 2) Connector for Cable Serv o Mo tor Connect or Supplied f or Servo Moto r 1) Plug (DDK) Type Maker Cable OD Model 4 to 8 ACS-08RL-MS10F Straight Nipp on flex 8 to 12 ACS-12RL-MS10F Angle Daiwa Dengyo 5 to 8.
14 - 15 14. SERVO MOTOR 2) For connection of encoder 1) Plug Conduit 1) Plug 2) Connector for co nduit Conduit 2) Connector for conduit 2) Connector for conduit Conduit Serv o Mo tor Connector Supplied for Serv o Mo tor 1) Plug (DDK) Type Maker Siz e Model Model I D 1/ 2 RCC -104RL-M S20F V F -0 4 14 .
14 - 16 14. SERVO MOTOR (2) W ate rpro of (IP65), EN Standard, UL/C-UL Standard-co mpliant (a) When u sing cabt yre cable s 1) For connection of power supply 1) P l u g 2) Cable c lamp Ca ble 1) P lug.
14 - 17 14. SERVO MOTOR (b) Wh en using flexib le condu its 1) For connection of power supply 1) Plug Condui t 1) P l u g 2) Connector fo r conduit Conduit 2) Connector fo r conduit 2) Connector for conduit Conduit Serv o Mo tor Connec tor Supplied for Servo Mo to r 1) Plug (DDK) Type Maker Size Model Model ID 1/2 RCC-104RL-MS22F VF-04 14.
14 - 18 14. SERVO MOTOR 2) For connection of encoder 1) Plug Condui t 1) P l u g 2) Connector fo r condui t Conduit 2) Connector fo r conduit 2) Connector for conduit Conduit Serv o Mo tor Connect or Supplied for Servo Mo to r 1) Plug (DDK) Type M ak er Size Model Model ID 1/2 RCC-104RL-MS20F VF-04 14.
14 - 19 14. SERVO MOTOR 14.6 Specif ic ati ons 14.6.1 St andard sp ecificatio ns HA-KFE Se ries (Low inert ia, small c apacity) Serv o Mo tor Item 13 23 43 73 Applicable servo amplifier/drive unit MR-E- A 1 02 04 07 0 Rated output [kW] 0.1 0. 2 0.4 0.
14 - 20 14. SERVO MOTOR HC-SFE S eries (Middle inert ia, middle c apacity) Serv o Mo tor Item 52 102 152 202 Applic able serv o amplifier/drive unit MR-E- A 70 100 200 200 Rated output [kW] 0.
14 - 21 14. SERVO MOTOR 14.6.2 T orque charac teristics POINT For machines which produce unbalance torque, e.g. vertical lift applicat ions, it is r ecomme nded to u se the serv o motor so that the unbalance torque wil l be with in 70% of th e rated torque.
14 - 22 14. SERVO MOTOR 14.6.3 Ser vo motor s with reductio n gears CAUTION The s ervo motor with reductio n gear m ust b e insta lled in t he sp ecified directio n. Other wise , i t can le ak oil, leading to a f ire or f ault. For the s ervo m otor with reduc tion ge ar, tra nsport it in the sam e status as in th e insta llation m ethod.
14 - 23 14. SERVO MOTOR (3) HC-SFE se r ies Reduction Gear Series For General Industrial Machines HC-SFE G1(H) For Precis ion Applications HC-SFE G2 Mounting method As in (a) in this section Flange mo.
14 - 24 14. SERVO MOTOR (b) Recommended lubricants 1) Gre ase Albania Grease/Shell OI L 2) Lubr icating oil Ambient Tempe rature CO SMO OIL NISSEKI MITSUB ISHI OIL IDE MI TSU KOSAN CO.
14 - 25 14. SERVO MOTOR 14.6.4 Ser vo motors with special s hafts The stan dard shaf t of the serv o motor is stra ight witho ut a keyway. Shafts wi th keyw ay and D cut are also av ailable .
14 - 26 14. SERVO MOTOR 14.7 Charact eris tic s 14.7.1 Elec tromagnet ic brak e characteristic s CAUTION Configur e th e electrom agnet ic brak e oper ation circ uit so that it is ac tivated not onl y b y the servo am plifi er signals but als o by an external emerge ncy stop s ignal.
14 - 27 14. SERVO MOTOR (2) El ectrom agnetic brake po wer su pply Prepare the following power supply for use with the electromagneti c brake only. Switch Electromagnetic brake VAR 24VDC B1 B2 VAR : S urge absorber The surge a b sorber mu st b e in stal led a cro ss B 1-B2.
14 - 28 14. SERVO MOTOR 14.7.2 Vibr ation rank The vibration rank of the servo mo tor i s V-10 a t the rated speed. M easure vibration in the foll owing posi tion with the servo motor in stalled as shown be low. Top Bottom Servo motor Measuring position Servo Motor Vi bration Measur ing Conditions 14.
14 - 29 14. SERVO MOTOR 14.8 Outl ine dimens ion drawing 14.8.1 HC- KFE series (1) Sta ndard (withou t electr omagnet ic brak e, wit hout re duction gear) Model Output [W ] Inertia Mome nt J[ 10 4 kg m 2 ] W eight [kg] HC-KFE 13 100 0.084 0.53 Power supply connector pin connection list 1 2 3 4 Pin No.
14 - 30 14. SERVO MOTOR Model Output [W ] Inertia Mome nt J[ 10 4 kg m 2 ] W eight [kg] HC-KFE 73 750 1.51 3 (Note)[Unit: mm] Note: The dimensio ns without tolerances are reference dim ensions. Power supply connector pin connection list 1 2 3 4 Pin No.
14 - 31 14. SERVO MOTOR Var iable Di mensions Model Output [W ] LK L Braki ng Fo rce [N m] Inertia Mome nt J[ 10 4 kg m 2 ] W eight [kg] HC-KFE 23B 200 131.5 49.1 1.3 0.47 1.6 HC- KFE4 3B 400 156 .5 72.1 1.3 0.7 2 2.1 (Note)[Unit: m m] Note: The dimensions without tolerances a re r eference dimensions.
14 - 32 14. SERVO MOTOR 14.8.2 HC- SFE series (1) Stand ard (with out elec tromagn etic brak e, without reductio n gear) Varia ble dim ensi ons Model Output [kW ] LK L Inertia Moment J[ 10 4 kg m 2 ] W eight [kg] HC-S FE52 0.5 15 0.5 51.5 6.7 5.5 HC-S FE102 1.
14 - 33 14. SERVO MOTOR (2) W ith e lectrom agnetic brak e Varia ble dim ensi ons Model Output [kW ] LK L Braki ng Force [N m] Inertia Moment J[ 10 4 kg m 2 ] W eight [kg] HC-S FE52B 0. 5 183.5 51 .5 8.3 8.7 7.5 HC-S FE102B 1.0 20 8.5 76.5 8. 3 15.8 9.
14 - 34 14. SERVO MOTOR 14.9 Outl ine dim ension drawing (in inch es) POINT The val ues in y ar ds/poun ds are refer ence values. 14.9.1 HC- KFE series (1) Stand ard (with out elec tromagn etic brak e, without reductio n gear) Model Output [W ] Inertia Moment WK 2 [oz in 2 ] W eight [lb] HC-KFE 13 100 0.
14 - 35 14. SERVO MOTOR Model Output [W ] Inertia Moment WK 2 [oz in 2 ] W eight [lb] HC-KF E73 750 8.256 6. 614 [Unit: i n] Power supply connector pin connection list 1 2 3 4 Pin No.
14 - 36 14. SERVO MOTOR Variable Dim ensions [i n] Model Output [W ] LK L Braki ng Fo rce [oz in] Inertia Mom e nt WK 2 [oz in 2 ] W eight [lb] HC-KF E23B 200 5.177 1.93 3 184.096 2.57 3.527 HC-KF E43B 400 6.161 2.83 9 184.096 3.937 4.63 [Un it: in] BC2419 4* 0.
14 - 37 14. SERVO MOTOR 14.9.2 HC- SFE series (1) Stand ard (with out elec tromagn etic brak e, without reductio n gear) Variable Dim ensions [i n] Model Output [kW ] LK L Inertia Moment WK 2 [oz in 2 ] W eight [lb] HC-S FE52 0 .5 5.9 25 2.028 36. 632 12.
14 - 38 14. SERVO MOTOR (2) W ith e lectrom agnetic brak e Varia ble dim ensi ons [in] Model Output [kW ] LK L Braki ng Force [oz in] Iner tia Moment WK 2 [oz in 2 ] W eight [lb] HC-SF E52B 0.5 7.22 4 2.028 1175. 382 47.567 16.5 35 HC-SF E102B 1.0 8.20 9 3.
15 - 1 15. MR-E- AG SERVO AMPLIFIER COMP ATIBLE WITH ANALOG INPUT 15. MR-E - AG SERVO AMPLIFIER COMP ATIBLE WITH ANALOG INPUT POINT In this chapt er, difference of the op eration of MR-E- AG from tha t of MR-E- A is described. For description not given in this Chapter, refer to Chapters 1 through 14.
15 - 2 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.1.2 Func tion bloc k diagram The function block diagram of this servo is shown below.
15 - 3 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.1.3 Ser vo amplif ier stand ard specif ications Servo Amplifier MR-E- Item 10AG 20AG 40AG 70AG 100AG 200A G Volta ge/frequen cy 3.
15 - 4 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.1.4 M odel code d efinition AG 70 750 40 400 10 100 20 100 200 1000 200 2000 MR-E-200AG MR-E-40AG or less MR-E-70AG, 100AG Rating pl at e Rating plate Rating pl ate Ser ies Rated output Analog in put Symb ol Rated output [W ] Symb ol Rated output [W] - MR - E 15.
15 - 5 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (2) MR-E-200AG Refer to Name/Applica tion Section15.5 Displ ay The 5-digit, seven-s egment LED shows the servo stat us an d alar m num ber. Used to set data. Used to change th e displ ay or d ata in each mode.
15 - 6 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.1.6 Ser vo system with auxiliar y equipm ent W ARNING To preve nt an e lectric s hock , always c onnect t he pr otective eart h (PE) ter minal (term inal m a rk ed ) of t he ser vo amplif ier to the pr otect ive earth ( PE) of the co ntrol box.
15 - 7 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (2) MR-E-200AG L 3 L 2 L 1 DC L 3 PL 1 L2 CHARGE CNP2 CNP1 CN1 CN2 U V W CN3 MODE SET MITS U B IS HI EZM o t i o n P C Options and au xiliary equipment No-fuse breaker Magnetic contactor Servo configurat ion software Reg ener ative optio n Refer to Section 13.
15 - 8 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.2. Sign als and wir ing 15.2.1 Stan dard connec tion exam ple (1) Speed control mode 1 9 12 10m (32ft) or less RA1 RA2 8 4 3 5 6 .
15 - 9 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Note: 1. To prevent an electric shock, always connect the protecti ve earth (PE) terminal (terminal marked ) o f th e ser vo am pli fie r to the protecti ve eart h (PE) of the con trol box.
15 - 10 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (2) Torque control mode 1 9 12 10m (32f t) or less RA1 RA2 Personal computer 8 4 5 3 EMG SON RS1 RS2 SG 13 ALM ZSP Servo amplifier .
15 - 11 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.2.2 In ternal connec tion diagram of s ervo amplif ier The foll owing is the internal connec tion dia gram where the signal assignment has been made in the initial status in each contro l mode.
15 - 12 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.2.3 Connec tors and s ignal ar rangem ents POINT The pin configura tions of the connectors a re as viewed from the cabl e connector wiring section. Refer to the next pa ge for CN1 signa l assignment.
15 - 13 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (2) CN 1 signal assignm ent The signal assi gnment of connector changes with the control mode as indicat ed below; For the pins which are g iven parameter No.s in the related parame ter column, their signa ls can be changed using those parameters.
15 - 14 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.2.4 Sig nal explan ations For th e I/O in terface s (sy mbols in I/O c olumn in the table), r efer to Sectio n 3.
15 - 15 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on ST Used to start the se rvo motor in any of .
15 - 16 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on ST Servo-on SON CN1-4 Sam e as MR-E- A.
15 - 17 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (2) Output signals Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on ST Speed rea ched SA SA -SG are c onnected when t he serv o motor s peed has n e a rly reach ed th e pres et sp eed.
15 - 18 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.2.5 De tailed descrip tion of the signals (1) Speed control mode (a) Speed setting 1) Speed comm and and spee d The servo mo tor is run at the s peeds set in the parameters or at the speed set in the applied voltage of the analog s peed command (VC).
15 - 19 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 2) Speed sele ction 1 (SP 1), speed selectio n 2 (SP2), sp eed sele ction 3 ( SP3) and spe ed comm and value By makin g spee d select ion 1 ( SP1), speed selection 2 (SP 2) and speed se lectio n 3 (SP 3) usable by sett ing of parameter No.
15 - 20 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (c) Torque limit 1) Torque limi t and tor que By se tt ing p arame te r N o . 2 8 (inte rn al tor que l imi t 1) , t o rq u e i s alway s limi ted to th e max imu m value during operati on .
15 - 21 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (2) Torque control mode (a) Torque control 1) Torque command and torque A relati onship between the a pp lied voltage of the anal og t orque comm and (TC) and the torque by the ser vo moto r is show n below.
15 - 22 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 2) Analog to rque comm and off set Using parameter No. 30, the offset volta ge of 999 to 999mV can be added to the TC applied volta g e as shown below. 0 8( 8) Max. t orque Generated torque TC applied voltage [V] Parameter No.
15 - 23 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 2) Speed se lectio n 1(SP1) /speed selec tion 2( SP2)/sp eed se lection 3(SP3) and spe ed lim it va lues Choose a ny of th e speed .
15 - 24 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (3) Sp ee d/ to rqu e cont rol ch ang e mod e Set "00 03" in par ameter No.
15 - 25 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.3 Startup W ARNING Do not oper ate the s witches wit h wet hands. You may get an e lectric sh ock. CAUTION Befor e starti ng oper ation, c heck th e param eters. Some m achin es ma y perform unexpec ted oper atio n.
15 - 26 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (4) Servo-on Switch t he servo-on in the following procedure: 1) Switch on power supply. 2) Switch on the servo-on (SON). When pla ced in the servo-on stat u s, the servo amplifi er is ready to operate and the servo motor is locked.
15 - 27 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.3.2 T orque contr ol mode (1) Powe r on 1) Switch off the servo-on (SON). 2) When power is switched on, th e display s how s " U (torque command voltage)", and in two second later , show s data.
15 - 28 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (6) Stop In any of the followin g statuses, the s ervo amplifier interrupts and stops the operati on of the servo motor: Refer to Section 3.9 , (2) for the servo motor equipped with electromagnetic brake.
15 - 29 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.4 Param eter s POINT Before changing the settings of parameters No. 20 through 84, cancel write protect ion while referring to Section 5 .
15 - 30 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT No. Symbol Name Control mode Initial value Unit Cust omer setti ng 20 *OP2 Function sele ction 2 S T 0000 21 For manufacturer setti.
15 - 31 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT No. Symbol Name Control mode Initial value Unit Cust omer setti ng 65 *CDP Gain changing selection S 0000 66 CDS Gain changing cond.
15 - 32 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.4.2 Detai ls list Class No. Symbol Name and function Initial value Unit Setting range Control mode Control mod e , reg enerative brake op tion selection Used to select the control mode and rege nerative bra ke opti on.
15 - 33 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 2 ATU Auto t uning Used to s election the respo nse level, etc. f or executi o n of auto tuning. Refer to Chapte r 7.
15 - 34 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode Internal speed command 1 Used to set sp eed 1 of inter nal spe ed co mmands. S 8S C 1 Internal speed limit 1 Used to set sp eed 1 of i nternal speed li mits.
15 - 35 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 14 TQC Torq ue comma nd ti me con stant Us ed to set the const ant of a low pa ss fi lter in re spon se to th e tor que comman d.
15 - 36 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 17 MOD Analog monitor output Us ed to se lec tion the s ign a l prov ide d to th e ana log mo nito r (MO1) analog monitor (MO2) output.
15 - 37 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode Paramet er block Used to select the ref erence an d w rite ran ges of the p arameters . Operati on can be p erformed for the parameters marked .
15 - 38 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 0000 Refer to Name and funct ion column.
15 - 39 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode S 22 *OP4 Function selecti on 4 U se d t o s e le .
15 - 40 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 27 *ENR Encod er output pu l s es Used to set t he enc oder pu lses (A -ph ase or B- pha se) out put by th e servo amplifier.
15 - 41 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode Anal og torque comma nd offs et Used to set t he offs et voltag e of th e anal og torqu e command (TC) .
15 - 42 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode S T 41 *DIA Input signal automatic O N sel ection Used to set aut omatic servo-on (SON) forward rotation stroke e nd (LSP) reverse rotation stroke en d (LS N).
15 - 43 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode Expansio n parameters 1 43 *DI2 Input signal selection 2 (CN1-4) Allows any input signal t o be assi gned to CN 1-pin 4.
15 - 44 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 44 *DI3 Input signal sele c t ion 3 (CN1-3) Allows any input signal t o be assi gned to CN 1-pin 3.
15 - 45 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 47 *DI6 Input signal sele ction 6 (CN1-7) Allows any input signal t o be assi gned to CN 1-pin 7. The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
15 - 46 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode Expansio n parameters 1 49 * DO1 Output sig n al selection 1 Used to select t he connector pins to output the alarm code and warning (WNG).
15 - 47 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 50 For manufactur er setting Don’t change this value by an y me ans. 0000 51 *OP6 Function selecti on 6 Used to sele ct th e operati on to b e perfor med when the re set (RE S) switch es on.
15 - 48 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 58 NH1 Machine res o nance suppression filter 1 Used to sele ction the ma chine res onance s uppressi on fil ter.
15 - 49 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 60 LPF Low -pass filter/adaptive vibration suppression co ntrol Used to selection t he low-pass filter and adap tive vibration supp ression contr ol.
15 - 50 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 65 *CDP Gain changing selection Used to select the gain changing condition. (Refer t o Section 8.5.) 0 00 Gain ch anging selection Gains are c hanged in accordance wit h the settings of parameters No.
15 - 51 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 76 TL2 Internal torque limit 2 Set this para meter to li mit servo motor torqu e on the assump tion that the maximum t o rque is 100[%] .
15 - 52 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Cumulative feedback pulses [p ulse] Moto r spee d [r/min] Command pulse frequency [kpps] Speed command vol tage Speed limit voltage.
15 - 53 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.5.2 St atus disp lay (1) St atus di s play li st The foll owing table lists the servo status e s t h at may be s hown: Name Symbol Uni t Descripti on Displa y range Cumulative feedback pulse s C pul se Fe edback pulses from t he serv o motor encoder are cou nted and disp layed.
15 - 54 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (2) Ch an gi ng th e st atu s di splay screen The sta t us dis play item of the servo amplifier d isplay shown at power-on can be changed b y changing the pa rame ter No. 18 setting s.
15 - 55 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.5.3 D iagnostic m ode Name Di splay Descrip tion Not r eady. Indicates that the servo amplifier is be ing initializ e d o r an ala rm has occurred.
15 - 56 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT Name Di splay Descrip tion Motor s eries Press t he "SET" button to sh ow the motor s eries I D of t he servo motor c urrently connect ed. Motor type Press the "SET" button to show the mo t or type ID of t he servo motor c urrently connect ed.
15 - 57 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.5.4 Ext ernal I/O s ignal displ ay The ON/OFF stat es of the digital I/O s ign als connected to the servo amplifi er can be confirmed. (1) Operation Call t he display screen s hown after power-on.
15 - 58 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (3) De fa ul t si gn al indi ca tio n s (a) Speed control mode Lit: ON Extinguished: OFF Input signals Output signals SON (CN 1-4) .
15 - 59 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.6. T roubleshooting 15.6.1 T rouble at start- up The following fault s may occur at start-up. If any of such faults occurs, take the corresponding action. (1) Spe ed control m ode No.
15 - 60 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT (2) T orque control m ode No. Start -up sequence Fault Inves tigation Poss ible cause Reference Not i mproved i f conn ectors CN1, CN2 and CN3 are discon nected. 1. Power supply voltage fault 2.
15 - 61 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT 15.6.2 Alar ms and warning list POINT Configu re up a circuit wh ich will detect the trouble (A LM) signal and turn off the servo-o n (SON) signal at occurrence of a n alarm. When a fault occurs during operation, the corresponding alarm or warning is displayed.
15 - 62 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG INPUT MEMO.
REVISIONS *The manual numb er i s given on t he bottom left of the back cover. Print data *Manual n umber Revision Sep.,2002 SH(NA)030031-A First edition Mar.,2003 SH(NA)030031-B "Note 2" in (1) Enviro nmental Condition is de leted from Safety Precauti ons 4.
Print data *Manual n umber Revision Mar.,2003 SH(NA)030031-B Chapter 14: Point is delet e d. Section 14.2: Rat ing plate is c hanged. Section 14.7.3 : Added.
HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030031-B (0303) MEE Printed in Japan Specifications subject to change without notice.
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