Mitsubishi GENERAL PURPOSE AC SERVO MR-E- A/AG manuale d’uso

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 the 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 you hav e read throug h this I nstruct ion M anual, Ins tallat ion gu ide, Ser vo motor Instr uction Manual a nd a ppende d doc uments caref ull y and [...]

A - 2 1. To prevent electric shock, note the follow ing: WARNING Befor e wirin g or insp ection, s witch power off and wait for more th an 10 m inutes. Then, c onfirm the vol tage is saf e with v oltage t ester. O therwis e, y ou ma y get an e lectric s hock . Conn e ct th e se rvo a mpl i fie r and se rvo moto r to grou nd . Any pers on who is in [...]

A - 3 4. Additional instruct ions The fol lowing ins tructions shoul d als o be ful ly noted . Incorr ect hand ling 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 . Stack ing in ex cess of the s pecif ied num ber of products is no t all[...]

A - 4 (2) W i rin g CAUTION W ire the equi pment cor rectly a nd s ecurel y. Other wise, the servo motor m ay mis operate. Do not instal l a power capac itor, s urge abs orber or radi o noise f ilter ( FR-BIF opti on) bet ween the s ervo motor and ser vo am plifier . Connec t the o utput term inals ( U, V, W) correctl y. Other wise, the servo motor[...]

A - 5 (5) Co rrecti ve ac tions CAUTION W hen it is ass umed th at a haza rdous c onditi on m ay take p lace at t he occ ur due to a p ower fai lure or a product f ault, use a s ervo m otor with electr omagnet ic brak e or an extern al brak e m echanis m f or the pur po se o f prev en ti on . Configur e th e electrom agnet ic brak e circu it so tha[...]

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 optio n art icles, pl ease fo llow th e law of each c ountr y (area). FOR MAXIMUM SAFETY This pr oduct is not designe d or m anufact ured to be use d in e quipment or s ystems in situat ions t hat can affect o r en da nge r hu man li fe [...]

A - 7 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DI RE C TIVES ? The EC directives were issued to standardize the regulations of t he EU countries and ensure smooth distribution of safet y-guaranteed products. In the EU countries, the machinery directive (effective in Janua ry, 199 5), EMC dir ective (ef fecti ve in Ja nuary, 1996) and l o w volt[...]

A - 8 (5) Grounding (a) To prevent an electric shock, always connect the protective eart h (PE) terminals (marked ) of the servo amplifier to the prot ective earth (PE) of the control box. Connect PE terminal of the control box to the NEUTRAL of a power supply. Be sure to ground the NEUTRAL of a power supply. (b) Do not co nnect tw o gro und c able[...]

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 amplifier :MR-E-10A to MR-E-200A Servo motor :HC-KFE HC-SFE (2) Installation Install a fan of 100CFM (2.8 m 3 / min) air fl ow 4 in (10.16 cm) ab[...]

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 f or the firs t time ................................................................................. ......... 4- 1 4.2 Sta rtup .................................................................................................................... .................................. 4- 2 4.2[...]

3 7.3 Manu al mode 1 (simple manual adjustme nt) ................................................................................... .... 7- 7 7.3.1 O peration of manual mo de 1 ............................................................................................... ............ 7- 7 7.3.2 Adj ustment by manual mo de 1 ......................[...]

4 13.2 Auxil iary equipment ....................................................................................................... ................... 13-2 1 13.2.1 Re commende d wires ....................................................................................................... ............. 13-21 13.2.2 N o-fuse breaker s, fuse s, magne[...]

5 15. MR -E- AG SERVO AMPLIF IER CO MPAT IBLE W ITH AN ALOG IN PUT 15- 1 t o 15- 6 2 15.1. Fun ctions and configuratio n.............................................................................................. ................ 15- 1 15.1.1 In troductio n ..........................................................................................[...]

6 MEMO[...]

1 - 1 1. FUNCTIONS AND CONFIGURATI ON 1. FUNCTIONS A ND CONFIGURAT ION 1.1 Introduct ion The Mits ubishi MR-E seri es general-purpose A C servo is based on t he MR-J2-Super seri es, and has t he same high performance and limi ted functions. It has position control and intern al speed control modes. Further, it can perform oper ation with the contro[...]

1 - 2 1. FUNCTIONS A ND CONFIGURAT ION 1.2 Functio n block diagram The function block diagram of this servo is shown below. Regenerative b rake option Servo amplifie r Current detector CHARGE lamp Servo mo t or Rege nerative TR (Note 1) Reg ene rat i v e bra ke Base am pl ifier Voltage det ecti on Over current protectio n Encoder Dynamic bra ke Con[...]

1 - 3 1. FUNCTIONS A ND CONFIGURAT ION 1.3 Serv o amplifier standard s pecif ications Servo Amplifier MR-E- Item 10A 20A 40A 70A 100A 200A Volta ge/frequ ency 3-phase 200 to 230VAC, 50/ 60Hz or 1-phase 230VA C, 50/60Hz 3-phase 200 to 230VAC, 50/60Hz Permissible voltage fluc tuation 3-phase 200 to 230V AC: 170 to 253VAC 1-phase 230VAC: 207 to 253VAC[...]

1 - 4 1. FUNCTIONS A ND CONFIGURAT ION 1.4 Functio n list The foll owing table l ists the functions of t his 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 mode This servo is us ed as p osition co ntrol se rvo. P Section 3.1. 1 Section 3.4[...]

1 - 5 1. FUNCTIONS A ND CONFIGURAT ION Function Description (Not e) Control m ode Refer to Alarm h i st ory cl ea r Alarm h is t ory is clea red. P, S Param eter No . 16 Restart after instantaneous power failure If the inpu t power supply vol tage had reduced to cause an alarm b ut has retu rned t o normal , the se rvo mot or ca n be restarted by m[...]

1 - 6 1. FUNCTIONS A ND CONFIGURAT ION 1.5 Model c ode def inition (1) Rating plate MR-E-40A MITSUBISH I AC SERVO MADE IN JAPAN MODEL MITSUBI SHI ELECT RIC CORPOR ATION AC SERVO PASSED POWER INPUT OUTP UT SERIAL :400W :2.6A 3PH200-230V 50Hz :2.6A 3PH200-230V 60Hz :170V 0-360Hz 2.8A :XXXXYYYYY :TCXXXAYYY GZZ : Model Capacity Applicable power supply [...]

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 UBISHI MR- Chapter6 Display The 5-digi t, seven-s egment LED show s the servo status and alarm number. Used to set data. Used to change the disp lay or data in eac h mode. Used to change the mode.[...]

1 - 8 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-E-200A Refe r to Name/Applicati on Chap ter6 Displa y The 5-digit, seven-segment L ED shows the servo status and alarm numbe r. Used to set data. Used to change the display or data in each mode. Used to change the mode. MOD E UP DOWN SET Oper atio n s ectio n Used to perform statu s display, diagnosti c[...]

1 - 9 1. FUNCTIONS A ND CONFIGURAT ION 1.8 Servo system with auxiliar y equipm ent W ARNING To preve nt an elec tric s hock, always c onnect t he pr otective eart h (PE) ter minal (term inal m ar k ed ) of the servo amplifi er to the prot ecti ve earth (P E) of the contr ol box. (1) MR-E-100A or less MODE CN3 SET CN1 CN2 CNP2 CNP1 L3 L2 L1 D C P W [...]

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 BI S HI EZMo t i o n P C Options and auxi liary equipment No-fuse breaker Magnetic contactor Servo configurat ion software Reg ene rat i v e op tion Refer to Section 13.2.2 Section 13.2.2 Section 13.1.4 Section 13.1.1 [...]

2 - 1 2. INSTALLATION 2. INSTALLA TION CAUTION Stack ing in ex cess of the l imited n umber of produc ts is no t allo wed. Instal l the equ ipm ent to inc ombusti bles. Ins tallin g them dir ectl y or clos e to com bustibles will led to a fire. Instal l the equipm ent in a load- bear ing place in accorda nce with this Instruc tion Manual . Do not g[...]

2 - 2 2. INSTALLATION 2.2 Instal lation dir ection and clearances CAUTION The equ ipment mus t be installe d in the spec ified dir ection . Otherwis e, a fault may occur. Leave s pecifie d clearanc es betw een th e servo amplif ier and contro l box inside walls or other equipm ent. (1) I nstallat ion of one ser vo amp lifier MOD E CN3 SET CN1 CN2 C[...]

2 - 3 2. INSTALLATION (3) Others When using heat generat ing equipment such as the regenerative brake option, install them with full consideration of heat generation 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. 2.3 Keep ou t foreig n materials (1) When instal[...]

2 - 4 2. INSTALLATION MEMO[...]

3 - 1 3. SIGNALS AND WIRI NG 3. SIGNALS AND W IRING 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, the n wait f or mor e than 10 minut es, and after t he char ge lam p has gon e off, m ak e sure that the vol tage is s afe in the tes ter or lik e. Other wise[...]

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 3.8 for connection with the s ervo motor. 3.1.1 Pos ition control m ode (1) FX-10GM 9,19 9 12 INP RD RA1 RA2 ALM ZSP 17 16 18 LA LAR LB LBR SD 15 4 3 SD 6 MO1 LG MO2 A A VIN VIN OP LG OPC VIN PP S[...]

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 control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not ou tput [...]

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 INPS CLEAR PGO(24V) PGO(5V) PGO COM CLEAR COM PULSE F - PULSE F+ PULSE R- PULSE R+ PULSE F PULSE COM PULSE R PULSE COM 17 16 18 LA LAR LB LBR SD 15 4 [...]

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 control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not ou tput [...]

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 SG CN1 CN3 CN1 9 12 RA1 RA2 ALM ZSP 1V I N 13 SG 11 1 19 20 5 13 22 23 24 25 14 12 9 13 16 17 18 11 14 15 10 A19 B20 1 4 6 2 5 3 A20 7 B19 READY RDY [...]

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 control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not ou tput [...]

3 - 8 3. SIGNALS AND WIRING 3.1.2 Inter nal 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 LZR LA LAR LB LBR LG OP SD 14 15 11 10 SA RD RA5 RA4 13 SG Plate (Note 9) Servo c onfigurati on software Person al com puter CN1 (Note 8) (Note 6) Trou[...]

3 - 9 3. SIGNALS AND WIRING 3.2 Interna l connect ion diagram of servo am plifier The foll owing is t he internal connection diagram where the signal assi gnment has been made in the initial status in each contro l mode. S RD RD 11 CR OPC PG RES EMG LSP LSN SG EMG LSP LSN SG ST1 SD PP NG NP SD P 13 CN1 CN1 SON SON 4 3 8 6 7 ST2 5 2 22 23 24 25 PS I[...]

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 t ions of the connect ors are as vi ewed from the cable connector wiring section. Refer to the next pa ge for CN1 s ignal assi gnment. (1) Si gnal arr angem ent 3 MR 57 MD 9 2 LG 4 MRR 68 MDR 10 LG 1 CN1 MODE CN3 SET CN1 CN2 CNP2 CNP1 L[...]

3 - 11 3. SIGNALS AND WIRING (2) CN1 s ignal assignm ent The signal assignment of connector changes wit h the control mode as indi cated below; For the pins which are given parame ter No.s in the related par ameter column, their signals can be changed using those parameters. (No te2 ) I/O S ignals in control m odes Connector Pi n No. (Note1) I/O PP[...]

3 - 12 3. SIGNALS AND WIRING (3) Sy mbols and sig na l na mes Symbol Signal name Symbol Signal name SON Servo-on ZSP Zero s pee d LSP Forwar d rotation stroke end INP In positi on LSN Reverse r otation stroke end SA Speed reac hed CR Clear ALM Trouble SP1 Speed sel ection 1 WNG Warni n g SP2 Sp eed selecti on 2 O P Encoder Z-phase pu lse (ope n col[...]

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. : Deno te s tha t th e sign al ma[...]

3 - 14 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O division PS Internal torque limit selection TL1 When using this signal, mak e it usable by making the setti ng of parameter No. 43 to 48. (Ref er to ( 5), S ection 3.4.1 .) DI-1 Used to sta rt th e serv o mot or in any of the foll owing directi[...]

3 - 15 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O division PS Emerge ncy stop EMG CN1-8 Disco nnect EMG-S G to b ring the serv o mot or to emerg ency st op state, in w hich t he s ervo i s swi tched off and the dyna mic bra ke is operat ed. Conn ect EM G-SG i n th e eme rgenc y st op stat e to[...]

3 - 16 3. SIGNALS AND WIRING (2) Output signals Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O division PS Troubl e ALM CN1-9 ALM-SG ar e dis conne cted w hen power is sw itched off or the protective circuit is activated to shut off the base circuit. Without alarm, ALM-SG are connected within 1 after power on. DO-1 Rea[...]

3 - 17 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O division PS To use this sig nal, set " 1 " in param eter No.49. This signal is output wh en an alarm occurs. When there is no alarm, respective ordinary signals (RD, I NP, SA, ZSP) are output. Alarm codes and alarm names are listed be[...]

3 - 18 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O division PS Encod er Z-p hase pulse (Open collector ) OP CN1-21 Outputs the zero-point signal of the enco der. One pulse i s out put per servo motor revo lutio n. OP and LG are connec ted whe n the zero- point positi on is reach ed. ( Negat ive[...]

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 se tr ai n in put (a) Input pulse waveform selection Encoder pulses may be input in any of th ree different forms, for which positive or negative logic can be cho sen. Set the command pul se train form in par ameter No. 21. Arrow or in the [...]

3 - 20 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector s ystem Connect as shown below: SG SD OPC PP NP Servo amplifier Appro x. 1.2k Appro x. 1.2k Exter nal power supply 24VDC 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 pulse trains (parameter No.21[...]

3 - 21 3. SIGNALS AND WIRING 2) Diffe rentia l line dr iver sy stem Connect as shown below: PP NP PG NG SD Servo amplifie r 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 pulse tra ins (paramet er No.21 has b een set to 0010 ). For the differe ntial line driv er, the w avef[...]

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 (parameter No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the in -positi on range. Servo-on (SON) Alarm Droop pulses In posit[...]

3 - 23 3. SIGNALS AND WIRING (5) Torque limit (a) Tor que lim it and torqu e By sett ing param eter No . 28 ( interna l torqu e limi t 1), to rque i s alway s limi ted to the max imum value during operati on. A relationship between the limit v alue and servo mo tor torque is shown below. 0 0 100 Max. torque Torque Torque limit value [%] (b) Tor que[...]

3 - 24 3. SIGNALS AND WIRING 3.4.2 Inter nal 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. Forward rotatio n (CCW) Reverse rotation (CW) The fol lowing ta ble indic ates the rotatio n direc tion acc ordin g to fo rward rotat ion star t (ST 1) and reverse rotation start[...]

3 - 25 3. SIGNALS AND WIRING (b) Spe ed sele ction 1 (SP1) , spee d select ion 2 ( SP2), speed selection 3 (SP3 ) and speed comm and v alue By making spee d selection 1 ( SP1), sp eed se lection 2 (S P2) and speed se lection 3 (S P3) u sable by setti ng of para meter No. 43 to 47, you can choose th e speed command values of int ernal speed commands[...]

3 - 26 3. SIGNALS AND WIRING 3.4.3 Pos ition/inter nal speed contr ol chang e mode Set "00 01" in param e ter No . 0 to swi tch to the p o sitio n/ intern al spe ed con tro l ch ange mod e. Th is fu nct ion is not ava ilabl e in the abso lute po sition de tectio n syste m. (1) Contr ol ch ange (LO P) Use control change (LO P) to switch be[...]

3 - 27 3. SIGNALS AND WIRING (3) Inter nal s peed set ting i n speed c ontro l mode (a) Speed command and speed The servo motor is run at the speed s et 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 3.4 .2. Generally, make connect ion as[...]

3 - 28 3. SIGNALS AND WIRING 3.5 Alarm occurr ence timing c hart CAUTION W hen an alarm has occ urred , remov e its c ause, m ake sur e that t he oper ation signal is not be ing in put, ensure safety , and reset the alarm be fore rest arting operat ion. When an a larm occurs in the servo amplifi er, the base circuit is shut off and the servo motor [...]

3 - 29 3. SIGNALS AND WIRING 3.6 Interf aces 3.6.1 Comm on line The foll owing diagram shows t he power suppl y and its common li ne. 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, etc . (Note) Servo motor Servo motor enco der Isolated Analog monitor output Diffe re n ti al lin e driv[...]

3 - 30 3. SIGNALS AND WIRING 3.6.2 Detai led descript ion of the interfac es This s ection gives the details of the I/ O si gnal interfaces (refer to I/O Division 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. (1) Digital inpu t interface DI-1 Give a signal with a rel[...]

3 - 31 3. SIGNALS AND WIRING (b) Lamp load VIN SG R Servo amplifier ALM, et c. Exter nal power supply 24VDC 10% (3) Pul s e tr ai n in pu t int e rfa ce DI - 2 Provide a pulse train signal in the open collect or or differential line driver system. (a) Open collector system 1) Inte rface VIN PP, NP SG SD Servo amplifier Max. input p ulse frequency 2[...]

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 ie r Am26LS31 or equivalent About 100 2) Conditi ons of the input puls e 0.9 PP PG tc tHL tc tLH tF tLH tHL 0.1 s tc 1 s tF 3 s NP NG 0.1 (4) En cod e r pul se ou tput (a) Open collector system Interface[...]

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 amplifie r Servo amplifier Am26LS32 or equivale nt High-speed photocouple r 150 100 2) Outp ut pul se Servo motor CCW rotation LA LAR LB LBR LZ LZR T /2 400 s or more OP LZ si[...]

3 - 34 3. SIGNALS AND WIRING 3.7 Input po wer suppl y circuit CAUTION W hen the se rvo amplif ier has bec ome fault y, s witch 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 . Otherwis e, a re generat ive br ake transis tor fault or the lik e [...]

3 - 35 3. SIGNALS AND WIRING (2) For 1-phas e 230VA C power s uppl y Powe r su pp ly 1-phase 230VAC Emergency stop Servo-on Servo amplifier Trouble Emergency stop Exte rnal power supply 24VDC RA OFF ON MC MC SK NFB MC L 1 L 2 L 3 EMG SON SG VIN ALM SG RA (Note) CNP1 P D C Note: To use t he built-in regenerative resistor, be sure to connect across P[...]

3 - 36 3. SIGNALS AND WIRING 3.7.3 Power -on seque nce (1) Power- on proce dure 1) Alw ays wire the po wer supp ly as shown in above Section 3.7.1 u sing the magn etic contactor with the power s upply (three-phase 200V: L 1 , L 2 , L 3 , single-p hase 230V: L 1 , L 2 ). Configure up an external s equence to switch off the magnetic contactor as soon[...]

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 instruc tions 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 am plifi er and ser vo m otor. Oth erwise, th[...]

3 - 38 3. SIGNALS AND WIRING Servo mot or 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 ca ble U (Red) V (White) W (Black) (Green) Motor Servo motor (Note2) CNP2 Note:1. To prevent an electri[...]

3 - 39 3. SIGNALS AND WIRING 3.8.3 I/O term inals (1) HC-KFE series 24 13 4 Power sup ply conne ctor (molex ) Witho ut electrom agne tic brak e 5557-04 R-210 (r eceptacle) 5556P BTL ( F em ale term inal ) With e le c tromagne tic brake 5557-06 R-210 (r eceptacle) 5556P BTL ( F em ale term inal ) Encoder cable 0 .3m (0. 98 ft.) Power supply lead 4-A[...]

3 - 40 3. SIGNALS AND WIRING (2) HC-SFE series Servo motor side connectors Servo motor For po w er supply For encoder Electromagnetic brake connector HC-SFE52(B) to 152(B) CE05-2A22- 23PD-B The c onnec t or for power is shared. HC-SFE202(B) CE 05-2A24- 17PD-B MS3102A20- 29P MS3102A10SL- 4P Encoder connector Brak e connec tor Power s u pply c onnec [...]

3 - 41 3. SIGNALS AND WIRING 3.9 Servo m otor with electrom agnetic brak e CAUTION Configur e the e lectrom agnet ic brak e operat ion circ uit so that it is acti vated not onl y by the serv o amplif ier signa ls but also b y an extern al emerge ncy stop s ignal. EMG RA 24VDC Contacts must be open w hen servo-on signal i s off or when an alarm (tro[...]

3 - 42 3. SIGNALS AND WIRING (3) T i ming charts (a) Servo-on signal comm and (from controller) ON/OFF Tb [ms] after the servo-on (SON) signal is swit ched off, the servo lock is released and the servo motor coasts. If the electr omagnetic brake is made valid in the servo lock status, the b rake life may be shorter. Therefore, when using the elect [...]

3 - 43 3. SIGNALS AND WIRING (c) Alarm occurrence Servo motor speed ON OFF Base cir cuit Electromagnetic brake interlock (MBR) Invalid (ON) Valid( OFF) Trouble (ALM) No(ON) Yes(O FF) Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake operation delay time Electromagnetic brake (10ms) (d) Power off Servo motor speed ON OFF Base c[...]

3 - 44 3. SIGNALS AND WIRING 3.10 Gro unding W ARNING Ground th e serv o amplif ier a nd ser vo motor securel y. To pre vent an electric shock , alwa y s connec t the protec tive eart h (PE) term inal of the ser vo am plifier with the p rotect ive e arth (PE) of th e contr ol box. The servo amplifier switches th e power transistor on-off to s upply[...]

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 sheat h has been stripped, t he cable can be used as it is . (Cabl e size: 0.2 to 2.5mm 2 ) 8 to 9 mm Twiste d wir e: Use the cable af ter str[...]

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 shown here to do t he work. [Un it: mm ] 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. In sert it along the [...]

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 rection of arrow. 3) With the scre wdriver pushed, insert the cable in the direction o f ar row . (Insert th e c abl e as far as it w ill g o . ) 4) Releasing [...]

3 - 48 3. SIGNALS AND WIRING 3.12 Instr uctions f or the 3M con nector When fabricati ng an encoder c abl e or the lik e, securely connect the shielded external condu ctor of the cable to the ground plat e as shown in this section and fi x it to the connector shell. External conductor Sheath Extern a l cond u ctor Pull back the external conductor t[...]

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 se rvo amp lifier. (b) The servo mot or power supply terminals (U, V, W) of t he servo amplifier match in ph [...]

4 - 2 4. OPERATION 4.2 Startup W ARNING Do not oper ate the s witches wit h wet hands. Yo u 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 ng pow e r- on for so me aft e r powe r- o ff, d o no t tou ch or cl os e a pa rt s (cab le et c. ) to the [...]

4 - 3 4. OPERATION (4) Servo-on Switch t he servo-on in t he followin g procedure: 1) Switch on power supply. 2) Switch on the servo-on signal (SON). When placed in the servo-on status, th e servo amplifier is ready to operate a nd the servo motor is locked. (5) C omm and pulse input Entry o f a p u lse tr ain fro m the p o sition in g de vice ro t[...]

4 - 4 4. OPERATION 4.2.3 Inter nal speed c ontrol m ode (1) Power on 1) Switch off the servo-on (SON) signal. 2) When circuit power is switched on, the display shows " r (servo motor speed)", and in two second later , show s data. (2) T est oper ation Using jog operation in the test operati on mode, make sure that the servo motor operates[...]

4 - 5 4. OPERATION (6) Stop In any of the following stat uses, the servo amplifier in terrupts and stops the operation of the servo motor: Refer to Section 3.9, (2 ) for the servo mot or equipped with electromagnetic brake. Note that simultan eous ON or simulta neous OFF of stroke end (LSP, LSN) OFF and forwa rd rotation start (ST1) o r rev erse ro[...]

4 - 6 4. OPERATION MEMO[...]

5 - 1 5. PARAMETERS 5. PARAMET ERS CAUTION Ne ver adjust or change the par ameter values extr emel y as it wi ll mak e operation 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 on to make tha t setting valid. This servo amplifier, its parameters are classified [...]

5 - 2 5. PARAMETERS 5.1.2 Lists POINT For any para meter whose symbol is preceded by *, set the parameter value and s witch power off once, then s witch it on again to mak e that parameter set ting valid. The s ymbols i n the cont rol mode column of the ta ble indicat e the following modes: P : Posi tion con trol mode S : Internal speed control mod[...]

5 - 3 5. PARAMETERS No. Symbol Name Control mode Initial value Unit Cust omer setti ng 20 *OP2 Function selecti on 2 P S 0000 21 *OP3 F unction selection 3 (Command pulse selection) P 0000 22 *OP4 Function selecti on 4 P S 0000 23 FFC Feed forwar d gain P 0 % 24 ZSP Zero sp eed P S5 0 r / m i n 25 For manufact urer setting 0 26 For manufacturer set[...]

5 - 4 5. PARAMETERS No. Symbol Name Control mode Initial value Unit Cust omer setti ng 50 For manufacturer setting 0000 51 *OP6 Function selecti on 6 P S 0000 52 For manufacturer setting 0000 53 *OP8 Function selecti on 8 P S 0000 54 *OP9 Function selecti on 9 P S 0000 55 *OPA Function s election A P 0000 56 SIC Ser ial communication time-out selec[...]

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 enerati ve brake op ti on selecti on Used to select t he cont rol mode and re generative brake op tion. Select the control mode. 0:P osi tio n 1:Position and i nternal speed 2:Internal speed Selection of regener[...]

5 - 6 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 2 ATU Auto tuning Used to s election the r esponse level , etc. for e xecution of a uto tuning. Refer to Chapter 7. Auto tuning r es p on se le v el set ti ng If the m achine h unts o r gener ates large gear so und, decr ease th e set value. To imp [...]

5 - 7 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 5 INP In-position range Used to set t he in -posit ion signal (IN P) out put range i n th e com mand pul se in crem ent s pr ior to elec tro n ic ge ar ca lcul atio n. 100 pulse 0 to 10000 P 6 PG1 Positi on loop gai n 1 Used to s et the gain of p os[...]

5 - 8 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 9 SC2 Inte rnal speed command 2 Used to set speed 2 of int ernal speed com mands. 500 r/min 0 to instan- tane ous permi- ssible speed S 10 SC3 Internal speed com mand 3 Used to set speed 3 of int ernal speed com mands. 1000 r/min 0 t o instan- tane [...]

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 means. 0 15 *SNO Station number setting Used to spe cify the stati on number fo r serial comm unication. Alwa ys s et one s tati on to one ax is of serv o amp lifi er. If one stati on nu[...]

5 - 10 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 18 * DMD Sta tus disp lay se lec tion Used to select t he status display sh own at power-on. Selection of status display at power-on 0: Cumulative feedback pulses 1: S erv o moto r sp eed 2: Droop pulses 3: Cumulative command pulses 4: Command puls[...]

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 election 2 Used to select restart aft er instantaneous power failur e, servo lock at a stop in inte rnal speed control mode, and slight vibration suppressi on control. 0: Inv a lid 1[...]

5 - 12 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 22 *OP4 Func tion selecti on 4 U s e d to s e l e c t s t op p r o c es s i ng at f o r w a rd ro ta ti on s t r o k e e n d ( L S P) reverse rotation st roke end (LSN) off and choose TLC/ VLC output. 0 0 How to make a stop when forward rotation st[...]

5 - 13 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 27 *ENR Encod er outp ut puls es Used to s et the enc oder p uls es (A- phase or B-p hase) output by the servo amplifier. Se t the v alue 4 time s gre ate r than the A - phas e or B -pha se pu lse s. You can use p arameter No. 54 to choose the o ut[...]

5 - 14 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 35 PG2 Po sition loop gain 2 Used to s et the gain of th e posi tion loop . Se t this par ameter to in cre ase th e pos itio n res pons e to leve l lo ad disturbance. Highe r setting increas es the response level but i s liable to generate vibratio[...]

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 ang i n g signal input pi ns an d to set the cl ea r (CR ). Control change (L OP) input pin assignment Us[...]

5 - 16 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode Expansi on param eters 1 43 *DI2 Input signal selection 2 (CN1-4) Allows any input signal t o be assigned to CN1-pin 4. Note that t he setting digit and assigned signal differ according t o the control mod e. Position control mode I nput si gnal s [...]

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 assigned to CN1-pin 3. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). Position co nt rol m o de Inpu t si gn al s of [...]

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 assigned to CN1-pin 7. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). Position co nt rol m o de Inpu t si gn al s of[...]

5 - 19 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode Expansio n par ame ters 1 49 * DO1 Output signal selection 1 Used to select t he connecto r 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 means. 0000 51 *OP6 Func tion selecti on 6 Used to sel ect t he op eration to b e pe rformed when the reset (RES ) switch es on. 0 00 Operation to be perf ormed when the reset (RES) swi[...]

5 - 21 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 55 *OPA Function s election A Used to sel ect t he posi tion comma nd a ccel eration /dec elerati on ti me constant (paramet e r No. 7) contro l syst em. 00 0 0: Primary delay 1: Linear acceleration/deceleration Position command acceleration/decele[...]

5 - 22 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 60 LPF Lo w-pass filter/adaptive vibration suppression c ontrol Used to selection the low-pass filter and adaptive vibration supp ression cont rol. ( Ref er to C hapt er 8.) 0 Low-pass filter selectio n 0: Valid ( Automatic adjust ment) 1: Invalid [...]

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 to Section 8.5.) 0 00 Gain changing selection Gains are changed in acc ordance with the settings of parameters No. 61 to 64 under any of the following conditions: 0:[...]

5 - 24 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 73 SC5 Internal speed com mand 5 Used to set speed 5 of int ernal speed com mands. 300 r /min 0 to in- stanta- neous perm i- ssible speed S 74 SC6 Internal speed com mand 6 Used to set speed 6 of int ernal speed com mands. 500 r /min 0 to in- stant[...]

5 - 25 5. PARAMETERS 5.2 Deta iled desc ription 5.2.1 Electr onic gear CAUTION W rong setti ng can lead to unexpec ted fas t rotat ion, ca using i njur y. POINT The guideli ne of the electro nic gear s etting range i s 50 1 CDV CMX 50 . If the set value is outs ide this ra nge, noise may be generat ed during accelerati on/ deceleration or opera tio[...]

5 - 26 5. PARAMETERS (2) C onveyor settin g exam ple For rotation in incremen ts of 0.01 per pulse Machine spe cificatio 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 0.01 1/18 36 0 20 100 1 5 Hence , set 5 to CM X and 1 to CDV [...]

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 settin g can be change d as li sted be low by c hanging the parameter No.17 va lue: Refer to Appendix 2 for the measurement point. Setting Output it em Des cription Setti[...]

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 comm and Command pul se Current feedback Position feedback Servo motor speed Current enco der Se r v o Mot o r Encoder Torque[...]

5 - 29 5. PARAMETERS 5.2.3 Usin g forward/re verse rota tion strok e end to cha nge the stopp ing pattern The st opping pattern is factory-s et to make a sudden st op when the forwa rd/reverse rotation stroke end is made valid. A slow stop can be made by changing the p arameter No. 22 value. Parameter No. 22 Setting Stopping meth od 0 (initial valu[...]

5 - 30 5. PARAMETERS 5.2.5 Pos ition sm oothing By setting the po sition command acceleration/decelera tion time constant (parame ter No.7), you can run the servo motor smoothly in response to a s udden position command. The following dia grams show the operati on patterns of the servo motor in re spons e to a position command when you have set the[...]

6 - 1 6. DISPLAY AND O PERATION 6. DISPLAY AND OPERATION 6.1 Displ ay flowchart Use the display (5-digit , 7-segment LED) on the front panel of the servo amplifier for status display, paramete r setting , etc. Set the parameters be fore opera tion, diagn ose an alarm, co nfirm ex ternal sequences, a nd/or confirm the operati on status. Press the &q[...]

6 - 2 6. DISPLAY AND OPER ATION 6.2 Status disp la y The servo status during operation is shown on the 5-digit, 7-segment LED display. Press t he "UP " or "DOW N" bu tton to ch ange d isplay da ta as de sired . Wh en the requ ired d ata i s selec ted, the cor respo ndin g symbo l appear s. Pre s s the "SET" butto n to [...]

6 - 3 6. DISPLAY AND OPER ATION 6.2.2 Status displa y list The foll owing table l ists the s ervo status es that may be s hown: Name Symbol Unit Description Display range Cumulative feedback pulse s C pul se Feedback pu lses fro m the servo m oto r encod er a re cou nted and disp layed . The valu e in exces s of 99999 is counted, bus sinc e the ser[...]

6 - 4 6. DISPLAY AND OPER ATION Name Symbol Unit Description Display range Within one-revoluti on posit i on h igh Cy2 100 pulse The within one-revolution position is displayed in 100 pulse increm ents of th e encod er. The va lue retur ns to 0 wh en it ex ceed s the maxi mum numbe r of pulse s. The val ue is incremente d in the CCW direction of ro[...]

6 - 5 6. DISPLAY AND OPER ATION 6.3 Diagnos tic mode Name Di splay Descr iptio n Not r eady. Indicates that the s ervo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indi cates t hat t he serv o was switc hed on aft er c ompl etion of initialization and the serv o amplifier is ready to operate. External I/O signal display [...]

6 - 6 6. DISPLAY AND OPER ATION 6.4 Alarm mode The current alarm, past alarm hist ory and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that h as occurred or the parameter num ber in error. Display example s are shown below. Name Di splay Descrip tion Indica tes no occurr ence of an a larm. Current alarm[...]

6 - 7 6. DISPLAY AND OPER ATION 6.5 Param eter m ode The parameters whose abbreviati ons are marked* are made valid by changing the sett ing and then switching power off once and switching it on aga in. Refer to Section 5. 1.2. (1) Op eration exampl e The following exampl e shows the operati on procedure performed after power-on to change the contr[...]

6 - 8 6. DISPLAY AND OPER ATION 6.6 Externa l I/O signal d isplay The ON/OFF states of the digit al I/O signal s connected to the servo a mplifier can be confi rmed. (1) Operation Call t he displa y s creen shown aft er power-on. Using the "MODE" b utton, show the diagnosti c screen. Press UP once. External I/O signal display screen (2) D[...]

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 1-4) Servo- on LSN (CN 1-7) Reverse rotation st roke end LSP (CN 1-6) Fo rward rotation stroke end RD (CN 1-11) Ready INP (CN 1-10) In p osition ZSP ([...]

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 vertical li ft appli cat ion, turnin g on the electromagnet ic brake interl ock (MBR) after assigni ng it to pin CN1-12 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side. The outpu[...]

6 - 11 6. DISPLAY AND OPER ATION 6.8 Test 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 mac hine opera tion. I n this mode, d o not us e the servo motor with the mac hine. Alwa ys use the servo m otor alone. If any oper ational fault has oc curred, stop op eration using the em [...]

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" button to run the serv o motor. Re lease it to stop . When [...]

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 wh en there is no command from the external command device. (1) Operation Conne ct EMG-SG to start po sitioning operatio n to use the intern al power s u pp[...]

6 - 14 6. DISPLAY AND OPER ATION 6.8.4 Motor -less operati on Without connecting the servo motor, you can provide output signal s or monitor the status display as i f the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host program mable contro ller or the like. (1) Operation After[...]

7 - 1 7. GENERAL GAI N ADJUSTMENT 7. GENERAL GAIN ADJUS TMENT 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 sing le servo amp lifier. For gain adjus tment, f irst execute a uto tuning mode 1. If you are not satisfied with the results, execut e au to tuning [...]

7 - 2 7. GENERAL GAIN ADJUSTMENT (2) Adj ustment sequenc e and mode us age Usage Used when you wa nt t o match the p osition gain (PG1) be tween 2 or more axes. No rmally not used for other purpos es. Allows adjustment by merely cha ngi n g the re spon se leve l se t ting . Fi r st us e th is mode to mak e adjustment. Used when the c onditi ons of [...]

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 tomatic ally se ts the optim um gain s acco rding to th at value . Thi s function permits eas e of gain adjust ment of the s[...]

7 - 4 7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto t uning m ode operation The block dia gram of real-time aut o tuning is shown bel ow. Servo motor Comma nd Automat ic setti ng Control gains PG1,VG 1 PG2,VG2, VIC Current control Current feedback Load inertia momen t Encoder Position/speed feedback Real-time auto tuning section Speed feedback Load inertia[...]

7 - 5 7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjus tment proced ure b y auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo mo tor autom atically se ts the o ptimum gain s that match the m achine . Mere ly chang ing the respo nse level setting value as require d comple tes the adjustme nt. The adju stmen[...]

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 sponse level setting is increased, the trackability and settling time for a command decre as es, bu t a too high response level w i ll g en er ate v ibr a tio n. He n ce , ma [...]

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 can make simple manual adjustment with three parameters. 7.3.1 Operat ion of m anual m ode 1 In this mode, se tting the three g ains o f posi tion cont rol gain 1 (PG1) , spee d control g ain 2 (V G2) a[...]

7 - 8 7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed contro l gain 2 ( paramete r No. 3 7) This parameter determines the response level of the s peed control loop. Increasing this val ue enhances res ponse but a too high valu e will make the mechanical s ystem liable to vibrat e. The actual response frequency of the speed loop is as [...]

7 - 9 7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Posi tion con trol gain 1 (para meter No . 6) This paramet er determines the response level of the position control loop. Increasing position control g ain 1 imp roves trackabili ty to a positio n command but a to o high value will make overshooti ng liable to occur at the time of sett [...]

7 - 10 7. GENERAL GAIN ADJUSTMENT 7.4 Interpo lation m ode The i nterpolation mode is used to match the position control gains of the axes when performing the interpolati on operation of s ervo motors of t wo or more a xes for an X-Y table or the like. In this mode, the positio n con trol gai n 2 and speed contro l gain 2 which deter mine co mmand [...]

8 - 1 8. SPECIAL ADJUSTMENT FUNCTI ONS 8. SPECIAL ADJUST MENT FUNCTIONS POINT The functions given in this chapter need not be used genera lly. Use them 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. If a mech anical system ha s a na tural reson ance lev el po int, in creas ing the serv o[...]

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 (parameter No. 59) to suppress the vibrati on of two resonance frequencies. Note that if adapti ve vibrat i on suppression control is made valid, the machine resonance suppression filter 1 (pa[...]

8 - 3 8. SPECIAL ADJUSTMENT FUNCT IONS POINT If the frequency of machine res onance is unknown, decrea se the notch frequency from higher t o lower ones in order. T he optimum notch freque ncy is set a t the point w here vibra tion is minimal. A deeper notch has a higher effect on ma chine resonance suppres sion but increases a p hase delay and may[...]

8 - 4 8. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters The ope ration of adapt ive vibra tion sup pression contro l selec tion (para meter No .60). Pa rame te r N o. 60 Adaptive vibrati on suppression control selec tion Choosing "valid" or "held" in adaptive vibrat ion suppression control select ion makes the ma chine resonance s[...]

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. 8.5.1 Appl ications This functi on is used when: (1) Yo u want to increase the gains durin g servo lock but d[...]

8 - 6 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5.3 Par ameters When using the gain changing function, always set " 4 " in par ameter No.2 (auto tuning) to choose the manual mode of the gain adjustment modes . The gain changing function cannot be used in the auto tuning mode. Para meter No. Abbrevi ation Nam e Unit Desc ription 6 PG1 Positi on c[...]

8 - 7 8. SPECIAL ADJUSTMENT FUNCT IONS (1) Para meters No. 6, 34 to 38 These parameters ar e the same as in ordinary manual a djustment. 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 compensa tion to be ch anged. (2) R atio of l oad[...]

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 ex ample s. (1) W hen you c hoose c hanging by exter nal inp ut (a) Setting Parameter No. Abbreviation Nam e Setting Unit 6 PG1 Position control gain 1 100 rad/s 36 VG1 Spe ed control gain 1 1000 r ad/ s 34 GD2 Rati o of l [...]

8 - 9 8. SPECIAL ADJUSTMENT FUNCT IONS (2) W hen you choose chang ing b y droop p ulses (a) Setting Parameter No. Abbreviat ion Name Setting Unit 6 PG 1 Position control gain 1 100 rad/ s 36 VG1 Speed c on t r ol ga i n 1 1000 r ad/s 34 GD2 R atio of load inertia moment to servo motor inertia moment 40 0. 1 times 35 PG2 Positio n control gain 2 120[...]

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 m ore than 10 minut es after power- off. T hen, conf irm that the v oltage is safe i n the tes ter or t he lik e. Oth erwise, you m ay get a n elec tric shoc k. Any pers on who is in volved in inspect ion shoul d[...]

9 - 2 9. INSPECTION (c) Servo amplifie r cooling f an The cooling fa n bearings reach the end of their life in 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 must also be changed if unu sual no ise or v ibration is found during inspe ction. (d) Bearings When the ser[...]

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 ca n refer to unrotated servo motor reasons, etc. The following fault s may occur at start-up[...]

10 - 2 10. TROUBLESHOOTING No. Start -up sequence Fault I nvestigation Possible cause Refer to Rotation ripples (sp eed flu ctuat ions) are la rge at low speed . Make gain adjustment in the follow ing p roc edure : 1. Inc reas e th e auto tunin g respons e level. 2. Repeat acceleration and decele ration s everal ti mes to complete auto tuning. Gain[...]

10 - 3 10. TROUBLESHOOTING (2) H ow to find the c ause of p ositio n shift Positioning unit (a) Output pulse counter Q P CMX CDV (C) Servo-on (SON), s troke e nd (L SP/LSN) i nput (A) (b) Cu mulative command p ulses Electronic gear (parame ters No. 3, 4) C Servo motor SM Encoder L Machine (d) Machine sto p p osition M (B) (c) Cumulative f eedback p[...]

10 - 4 10. TROUBLESHOOTING 10.1.2 Inter nal speed c ontrol m ode No. Start -up sequence F ault Inves tigation Possibl e cause Refer to Not i mprov ed if connect ors CN1, CN2 and CN3 are discon nected . 1. Power supply voltage fault 2. Servo amplifier is faulty. Improve d when con nectors CN1 is disconnected. Power supply o f CN1 cabling is shorted.[...]

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 the tro uble (A LM) sign al and turn off the servo-o n (SON) signal at occurrence of an ala rm. 10.2.1 Alarm s and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or[...]

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. O therwis e, inj ury ma y occur. POINT When any of t he following alarms has occurred, always remove it s cause and allow abo ut 30 minute s for cooling before res[...]

10 - 7 10. TROUBLESHOOTING Display Name Definition Cause Action AL.1A Mo tor combina tion error Wrong combi nation of servo anplifier and servo motor. Wrong combi natio n of s ervo ampl i f i er and se rvo moto r conne cted. U se corr ect comb inatio n. 1. Enc oder co nnector (CN2) discon nected . Con ne ct corr ectly . 2. Encoder f ault Change the[...]

10 - 8 10. TROUBLESHOOTING Display Name Definition C ause Action 1. Input co mm and pulse frequen c y exce eded th e p ermiss ibl e instantaneous sp eed frequency. Set comman d pu l se s co r rectly. 2. Small acceleration/deceler ation time constant caused oversh oot to be large. Increa se ac celerat ion /decel erati on tim e constant. 3. Servo sys[...]

10 - 9 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Serv o ampli fier fa ult caus ed the parameter setting t o be rewritten. Change the servo amplifier. 2. Regenerative bra ke option or ser vo motor not used with serv o amplifier was selected in parame ter No. 0. Set param eter No .0 co rr ectly. AL.37 Par ameter error Param eter set[...]

10 - 10 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Mac hine s truc k somet hing . 1. Review opera tion patt ern. 2. Install limit switch es. 2. Wr ong c onnecti on of serv o mot or. Servo amplifier's output t erminals U, V, W do not ma t ch servo mo tor' s i npu t term i nals U , V , W. Con ne ct corr ectly . 3. Servo sys[...]

10 - 11 10. TROUBLESHOOTING 10.2.3 Rem edies for warnings If AL.E6 occurs, 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. Display Name Definition Cause[...]

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 als Terminal screw: M4 Tightening torque: 1.2 [ N m] (169.9 [oz in])[...]

11 - 2 11. OUTLINE DIMENSION DRAW INGS (2) MR-E-4 0A 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] (169.9 [oz in])[...]

11 - 3 11. OUTLINE DIMENSION DRAW INGS (3) MR-E-7 0A 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 it: m m] ([Unit: i n]) 168 (6.61) PE te rminals Terminal screw: M4 Tighte ning torqu e: 1.2 [ N m] (169 .9 [oz i n])[...]

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: 1.2 [ N m][...]

11 - 5 11. OUTLINE DIMENSION DRAW INGS 11.2 Connectors (1) Servo amplifier side <3M > (a) Soldered type Model 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) 22.0 (0.87) 39.0 (1.54) 23.8 (0.94) 14.0 (0.55) 12.7(0.50) 33.3 (1.31) (b) Threaded type [Un it: mm[...]

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 : 58935- 1000 Shell bo dy : 58934- 1000 Cable c lamp : 58934- 0000 Screw : 58203- 0010 12. 5 (0.49) 40 (1.58) 22. 7 ( 0.8 9) 1 1 (0.43) [Uni t: mm] ([Unit: i n]) (3) CN3 Connec tor (Mar ushin e lectric m[...]

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 CNP2 (1kW or less) 51240-0600 32.8 (1.29) 25 (0.98) 6 CNP1 (1kW or less) Crimpi ng tool: 57349-5300 (mol ex) [...]

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 CNP2 (1kW or less) 55755-0610 31.5 (1.24) 25 (0.98) 6 CNP1 (1kW or less) 5 (0.20) 1.5 (0.06) 26.5 (1.04) 8.5 (0.34) 18 (0.71) 14.3 (0.56) Housing Housing co[...]

12 - 1 12. CHARACTERISTI CS 12. CHARA CTE RISTICS 12.1 Overl oad protec tion character istics An electroni c thermal relay is built in the servo ampli fier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any[...]

12 - 2 12. CHARACT ERISTICS (2) H eat dissi pation area for enclos ed ser vo ampl ifier The encl osed control box (hereafter called the control box) which will contain the servo amplif ier should be designe d to ensu re that it s temper ature ri se is w ithin 10 at t he ambient temperat ure of 40 (104 ). (With a 5 (41 ) safety margin, the system sh[...]

12 - 3 12. CHARACT ERISTICS 12.3 D y nam ic brak e characteris tics Fig. 12 .3 shows t he pattern in which the servo motor comes to a stop when the dynamic brake is opera ted. Use Equati on 12.2 to calculate an approximate coast ing distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer [...]

12 - 4 12. CHARACT ERISTICS 12.4 Enco der cable f lexing lif e The fl exing life of th e cables is shown below. This graph cal culated values. Since th ey are not guaranteed value s, provid e a lit tle allow ance for these va lues. 1 10 7 5 10 7 1 10 8 5 10 6 1 10 6 5 10 5 1 10 5 5 10 4 1 10 4 5 10 3 1 10 3 a Flexing life [times] 4 7 10 20 40 70 10[...]

13 - 1 13. OPTIONS AND AU XILIARY EQUIPMENT 13. OPTIONS AND AUX ILIARY EQUIPMEN T W ARNING Before conn ectin g any option or auxiliar y equi pment, m ake s ure that t he char ge la mp is off mor e th an 10 minu tes a fter pow er-o ff, then confi rm the volt age with a tester or the like. Oth erwise, you m ay get a n electr ic shoc k. CAUTION Use th[...]

13 - 2 13. OPTIONS AND AU X ILIARY EQUIPMENT (b) To make selection according to regenerative 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. Regenerative energy calculation Use the following table to ca[...]

13 - 3 13. OPTIONS AND AU X ILIARY EQUIPMENT 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. ER [J] Es Ec Calculate the power consumpti on of the regenerative brake option on the basis of single-cy[...]

13 - 4 13. OPTIONS AND AU X ILIARY EQUIPMENT (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 ho le MR-RB TE1 Terminal block G4 G3 C P Terminal screw: M3 Tighten ing torque : 0.5 to 0.6 [...]

13 - 5 13. OPTIONS AND AU X ILIARY EQUIPMENT (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: 1.2 [N m](10 [lb in] ) Weight Regenerative brake option Regenerative power [W] Resi stance [ ] [kg] [...]

13 - 6 13. OPTIONS AND AU X ILIARY EQUIPMENT 13.1.2 Cabl es and conn ectors (1) Cable make-up The followin g cables a re used for connection with the servo motor and other models . Those indicat ed by broken lines i n the figure are not options. Regenerative brake option Servo amplifier HC-SFE HC-KFE Operation pan el Controlle r 1) 2 ) 3) 4) 5) 7) [...]

13 - 7 13. OPTIONS AND AU X ILIARY EQUIPMENT No. Product Model Description Applicati on 1) Standard encoder cable MR-EKCBL M-L Refer to (2) (a) in this section. (Note) (mol ex or equiv alent ) Housing: 1-172161-9 Connector pin: 170359-1 (AMP or equival ent) Standard flexing life IP20 2) Long flexing life encode r ca bl e MR-EKCBL M-H Refer to (2) ([...]

13 - 8 13. OPTIONS AND AU X ILIARY EQUIPMENT No. Product Model Description Applicati on 12) Analog mo nitor RS-232C branch cable MR-E3CBL15-P C onnec tor: MP371/6 Connec tor: MJ372/ 6 (Marushin Mus en 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 cs. /box) Connector: MP37[...]

13 - 9 13. OPTIONS AND AU X ILIARY EQUIPMENT (2) Encoder cable CAUTION If you hav e fabric ated t he encod er cab le, conn ect it c orrect ly. Otherwis e, m isoperati on or ex plosion m ay occ ur. POINT The encoder cabl e is not oil resistant. Refer to Secti on 12.4 for the fl exi ng life of t he encoder cable. When the encoder ca ble is us ed, the[...]

13 - 10 13. OPTIONS AND AU X ILIARY EQUIPMENT Encoder cable of le ss than 30m When fabricati ng an encoder cable, use the MR-ECNM connector set. Referring to the following wiri ng dia gra m , you ca n fa br icat e an enc ode r ca bl e of u p to l ess th an 30 m. MRR P5 LG 1 2 MR 3 4 3 7 9 SD 1 2 8 9 MR-EKCBL20M-L P5G MR MRR SHD P5E P5 LG 1 2 MR MRR[...]

13 - 11 13. OPTIONS AND AU X ILIARY EQUIPMENT (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 -EKC BL M-H Symbol Cable Length [m(ft)] Communication S ystem 2 (6.56) 5 (16.4) 10 (32.8) 20 (65.6) 30 (98.4) Two-w ir e ty pe (Note) Four-wire type Note: Se[...]

13 - 12 13. OPTIONS AND AU X ILIARY EQUIPMENT 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 side Plate Pla te Servo amplifier side Encoder side (Note) (Note) Note. When an encoder cabl e is fabricate[...]

13 - 13 13. OPTIONS AND AU X ILIARY EQUIPMENT (c) MR-ESCBL M- L (stand ard f lex life model) These encoder cables are used with the HC-SFE series servo motors. 1) Model explanation Standard flex life Mode l: MR -ESC BL M-L Symbol Cable Length [m(ft)] Communication S ystem 2 (6.56) 5 (16.4) 10 (32.8) 20 (65.6) 30 (98.4) Two-w ir e ty pe (Note) Four-[...]

13 - 14 13. OPTIONS AND AU X ILIARY EQUIPMENT Encoder cable of 3 0m or more POINT The communicat ion system of the encoder cab le in this 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. Referring to the following wiri ng dia gra m , you can fa br icat[...]

13 - 15 13. OPTIONS AND AU X ILIARY EQUIPMENT (d) MR-ESCBL M-H (long flex life model) MR-EN ECBL M-H (IP65/IP67-compatible, long flex life model) These encoder cables are used with the HC-SFE series servo motors. 1) Model explanation Long flex life Mode l: MR -ESC BL M-H Symbol Cable Length [m(ft)] Communication S ystem 2 (6.56) 5 (16.4) 10 (32.8) [...]

13 - 16 13. OPTIONS AND AU X ILIARY EQUIPMENT 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 amplifie r 50m(164.0ft) max. Encoder connector Servo mo t or Encoder Encoder connector Pin Signal Encoder cable (Optional[...]

13 - 17 13. OPTIONS AND AU X ILIARY EQUIPMENT Encoder cable of 3 0m or more POINT The communicat ion system of the encoder cab le in this wiring diagram is the fo ur-wire type. Set "1 " in parameter No . 20. When f abricating an enco der cable , use the MR-E CNS (IP20- compati ble mode l) or MR-EN ECNS (IP65/IP67-compatible model) connect[...]

13 - 18 13. OPTIONS AND AU X ILIARY EQUIPMENT (3) Co mmun i ca ti on cabl e POINT This cab le may not be used wit h some personal comput ers. After fully examining t he signals of the RS-2 32C connector, refer to thi s section and fabricate the cable. (a) Model definition Model: QC 30R2 (Cab le length 3[m ](10[f t])) (b) Connection diagram for fabr[...]

13 - 19 13. OPTIONS AND AU X ILIARY EQUIPMENT 13.1.3 Ana log monitor , RS-232C br anch 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 person al computer and analog monitor outputs are used at th e same time. CN3 MO2 MO1 LG LG Servo amplifier A nalog monitor, RS-232C branch[...]

13 - 20 13. OPTIONS AND AU X ILIARY EQUIPMENT 13.1.4 Ser vo configur ations sof tware The servo configura tion softwa re (MRZJW3-S ET U P 154E) uses t he communication funct ion of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) S pecific ations Item D escript ion Communicati[...]

13 - 21 13. OPTIONS AND AU X ILIARY EQUIPMENT 13.2 Auxiliar y equipment Always u se the d evice s in dic ated 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. 13.2.1 Recom mended wires (1) W ires for p ower supply wiring The following dia gr[...]

13 - 22 13. OPTIONS AND AU X ILIARY EQUIPMENT (2) W ires for ca ble s When f abricating a cable , use th e wire mo dels g iven in the follow ing ta ble or e quivalen t: Table 13. 2 Wir es for option c ables Charact eristi cs of one co re Type Mode l Length [m(ft)] Cor e size [mm 2 ] Number of Core s St ructure [W ire s/m m] Conductor resistance[ /m[...]

13 - 23 13. OPTIONS AND AU X ILIARY EQUIPMENT 13.2.2 No-f use break ers, fus es, magnetic c ontactors Always use one no-fuse breaker and one magnetic conta ctor with one servo amplifier. When using a fuse instead of th e no-fuse breaker, use the one having the specificat i ons given in this s ection. Fuse Servo amplifier No-fuse breaker Class Curre[...]

13 - 24 13. OPTIONS AND AU X ILIARY EQUIPMENT 13.2.4 Rela ys The followin g relays should be used with the int erfaces: Interface Selection exam pl e Input signals (interface DI-1) signals To prevent de fective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1)[...]

13 - 25 13. OPTIONS AND AU X ILIARY EQUIPMENT (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 s ources (such as a magnetic contactor, an electromagneti c brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, t[...]

13 - 26 13. OPTIONS AND AU X ILIARY EQUIPMENT Noise transm issi on rout e Suppression t echni ques 1) 2) 3) When measuring instruments, receiv ers, s ensors, etc. which handle weak signals and may malfunction due to n oise and/or their signal cables are containe d in a control box together with the servo amplifier or run near the servo amplifier, s[...]

13 - 27 13. OPTIONS AND AU X ILIARY EQUIPMENT (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. Use this product or equival ent. Relay This distance should be short (within 20cm(0.79 in.)). Surge suppressor MS Surge suppre[...]

13 - 28 13. OPTIONS AND AU X ILIARY EQUIPMENT Outline drawing Earth plate Clamp 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: Screw hole for grounding. C onnect it to the earth plate of the control box. (0.24) 24 0.3 0 (0.940) (0.940) [Unit:[...]

13 - 29 13. OPTIONS AND AU X ILIARY EQUIPMENT (d) Line noise filter (FR-BSF01) This filter is effective in suppressing noises radiat ed from the power supply side and output side of the servo amplifier and als o in suppressing high-frequency leakage current (zero-phase current) especi ally wi thin 0.5 MHz to 5 MHz ban d. Connection diagram Out l i [...]

13 - 30 13. OPTIONS AND AU X ILIARY EQUIPMENT 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 i s run with a commercial power supply. Select a leakage curre[...]

13 - 31 13. OPTIONS AND AU X ILIARY EQUIPMENT (2) S electio n exam ple Indicated below is an example of selecting a l eakage current break er under the followin g 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. Find the terms of Equation (13.2) fro[...]

13 - 32 13. OPTIONS AND AU X ILIARY EQUIPMENT 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. (1) Co mbi n at io n wi th th e se r vo a mpl i fie r Recommended f ilter Servo a mplifier Model Leak age c urrent [mA] Weight [kg][...]

14 - 1 14. SERVO MOTOR 14. SERVO MO TOR 14.1 Com pliance with the overseas standar ds 14.1.1 Comp lianc e with EC dir ect ives Use th e serv o motor compat ible with the EN S tandard. Unless otherwise speci fied, the handling, performance, specifications and others of the EN Standard- compatible models are the same as thos e of the standard models.[...]

14 - 2 14. SERVO MOTOR 14.2 Model nam e m ake-up (1) Name plate AC SERVO MOTOR HC-SFE152 INP UT 3A C 14 5V 8.2A MITSUBISHI ELECTRI C CORPORATION MADE IN JAPAN 2000r/m in IP65CI. F 9.5 kg SER.No. AS958 300202X OUTPUT 1 . 5kW IEC60034-1 '9 9 Model Input power Rated output Rated speed, Protection structure, Insulation class, Weight Serial number [...]

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 Wi thou t Electromagnetic brake Electrom agnetic Brake Without With Rated speed 2000 [r/min] Rated output Ap pear anc e Symbol B None (Not e) R educt ion Gear Symbol Shaft ty pe None Shaft Shape [...]

14 - 4 14. SERVO MOTOR 14.3 Parts ide ntif ica t ion Lead type Name/Applica tion Refe r To Enc oder Section 14 .7.1 Enco de r ca bl e wit h encoder c onnector 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 m otor with e lectromagn etic brake) Section 14.7.4 Name[...]

14 - 5 14. SERVO MOTOR 14.4 Installa tio n CAUTION Stack ing in ex cess of the l imited n umber of produc ts is no t allo wed. Instal l the equ ipm ent to inc ombusti bles. Ins tallin g them dir ectl y or clos e to com bustibles will led to a fire. Instal l the equipm ent in a load- bear ing place in accorda nce with t his Instruc tion Manual . Do [...]

14 - 6 14. SERVO MOTOR 14.4.1 Env ironmenta l conditions Environm ent Condition s [ ]0 t o 40 (n on-fr eezin g) Ambient te mperature [ ] 32 t o 10 4 (non-fr eezing) Ambient hu midity 80 %RH or less (non-co ndensing) [ ] 15 to 70 (no n -free z in g) Storage temperat ure [ ] 5 to 1 58 (non-fr eezing) Storage humi dity 90%RH or less (non-condensing ) [...]

14 - 7 14. SERVO MOTOR 14.4.3 Load m ounting 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. To fit the pull ey, firs t ins ert a double-end stud into the screw hol [...]

14 - 8 14. SERVO MOTOR 14.4.4 Per miss ible load for the s haft 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 sure that the misal ignment o f the sh aft i s less tha n the permissible radial lo ad. (b) Wh en using a pulle y, sp rocket or[...]

14 - 9 14. SERVO MOTOR 2) Precisio n applic ation-comp liant Item Gear ratio HC-KFE13(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 [N] 1/29 610 700 900 1190 1 / 5 3 63 67 68 8 1/9 45 94 108 135 1/20 121 137 178 234 Permissible Radial Load [lb] 1/29 137 157 202 268 1/5 220 220 370[...]

14 - 10 14. SERVO MOTOR 2) Precisio n 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 1/20 1274 2646 2646 6076 1/29 2940 2940 6860 6860 [N] 1/45 3430 8036 8036 8036 1/5 187 187 187 375 1/9 220 220 441 441 1/20 286 595 595 1366 1/29 661 66[...]

14 - 11 14. SERVO MOTOR 14.4.5 Pr otection fr om oil and water (1) Ne xt, the servo moto r is no t wate rproo f (IP4 4). Do n ot su bject the se rvo mo tor to oil and wate r. Espec ially fo r the HC-KFE serie s, do no t subj ect th e shaf t-throu gh po rtion to oil. Servo M otor Series Protect ion HC-KFE IP55 Oil or water Servo mo t o r (2) Wh en t[...]

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 e servo motor is to be in stalled w ith th e shaf t end at top , provid e meas ures so tha t it is not exposed to oil and water entering from the mach[...]

14 - 13 14. SERVO MOTOR 14.5. Connec tors used f or servo m otor wiring This s ection gives connect or makeups on an operating environment bas is. Use the models of the manufacturers given or equivalent. 14.5.1 HC- KFE series Use the connectors indicated in this section or equivalent for connection of the power supply, electromagnetic brake and enc[...]

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 Servo Motor Connector Supplied for 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 8.3 YSO10-5 to 8 4 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 Servo Motor Connector Supplied for Servo Motor 1) Plug (DDK) Type Maker Siz e Model Model ID 1/ 2 RCC -104RL-M S20F V F -0 4 14 . 0 Nippo n flex 3 /4 RCC -106RL -MS20F V F -0 6 1 9.[...]

14 - 16 14. SERVO MOTOR (2) W aterp roo f (IP65), EN Standard, UL/C-UL Standard-co mpliant (a) When using cabtyre cables 1) For connection of power supply 1) P l u g 2 ) Cable c lamp Cable 1) Pl u g 2 ) Cable cl amp Cable 1) Plug (DDK) 2) Cable clamp (DDK) Servo Motor Connec tor Supplied for Servo Motor Type Model Cable OD Model Straight CE05-6A22-[...]

14 - 17 14. SERVO MOTOR (b) Wh en using f lexib le condu its 1) For connection of power supply 1) Plug Conduit 1) P l u g 2) Connector fo r conduit Conduit 2) Connector fo r conduit 2) Connector for conduit Conduit Servo Motor Connector Supplied for Servo Mo to r 1) Plug (DDK) Type M aker Si ze Model Model ID 1/2 RCC-104RL-MS22F VF-04 14.0 3/4 RCC-[...]

14 - 18 14. SERVO MOTOR 2) For connection of encoder 1) Plug Conduit 1) P l u g 2) Connector fo r condui t Conduit 2) Connector fo r conduit 2) Connector for conduit Conduit Servo Motor Connector Supplied for Servo Mo to r 1) Plug (DDK) Type M aker Size Model Model ID 1/2 RCC-104RL-MS20F VF-04 14.0 Nippo n flex 3/4 RCC-106RL-MS20F VF-06 19.0 16 MSA[...]

14 - 19 14. SERVO MOTOR 14.6 Specif ic ati ons 14.6.1 Stan dard spec ificatio ns HA-KFE Seri es (Low inert ia, small c apacity) Servo Motor 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 0.75 [N m] (Note 14) 0.32 (Note 14) 0.64 (Note 14) 1.3 2.4 (Note 1,11) Continuous duty Rated torque [oz [...]

14 - 20 14. SERVO MOTOR HC-SFE S eries (Middle inert ia, middle c apacity) Servo Motor Item 52 102 152 202 Applicabl e servo amplifier/drive unit MR-E- A 70 100 200 200 Rated output [kW] 0.5 1.0 1.5 2.0 [N m] 2.39 4.78 7.16 9.55 (Note 1,11) Continuous duty Rated torque [oz in] 339 677 1015 1353 (Note 1) Rated speed [r/min] 2000 Maximum speed [r /mi[...]

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 re commen ded to u se the serv o motor so that the unbalance torque wil l be with in 70% of th e rated torque. (1) HC-KFE series 1000 2000 3 000 40004500 0 0.25 0.5 1.0 0.75 [HC-KFE13] Torque [N m ] Spee[...]

14 - 22 14. SERVO MOTOR 14.6.3 Ser vo motor s with reductio n gears CAUTION The ser vo motor with reductio n gear m ust b e insta lled in t he sp ecified direction . 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. Tippi ng [...]

14 - 23 14. SERVO MOTOR (3) HC-SFE se ries 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 mounting Mounting direction As in (a) in this section In any directions As in (a)(b) in this se ction Grease lubrication (Already packed) Lubrication met[...]

14 - 24 14. SERVO MOTOR (b) Recommended lubricants 1) Gre ase Albania Grease/Shell OI L 2) Lubr icating oil Ambient Tempe ratur e COSM O OIL NISSEKI MITSUB ISHI OIL IDE MIT SU KOSAN CO., LTD GENERAL OIL Shell OIL ESSO OIL Mobil OIL Japan Energ y 10 to 5 COS MO GEAR SE 68 BONNOC SP 68 DIAMOND GEAR LUBE SP 68 DAPHNE CE 68S DAPHNE SUPER GEAR OIL 68 Om[...]

14 - 25 14. SERVO MOTOR 14.6.4 Ser vo motors with special s hafts The stan dard shaf t of the servo motor is straig ht witho ut a keyway. Shafts wi th keyw ay and D cut are also av ailable. Except f or the servo motor with re duction gear. These s hafts are not a ppropriate for ap pli cations where the servo mot or is started and stopped frequently[...]

14 - 26 14. SERVO MOTOR 14.7 Charact eris tics 14.7.1 Elec tromagnet ic brake c haracteristic s CAUTION Configur e the e lectrom agnet ic brak e operat ion circ uit so that it is acti vated no t onl y by the s ervo am plifier sign als but als o by an external emerge ncy stop s ignal. Refe r to Se ct ion 3 .9 fo r det a il s. The electr omagne tic b[...]

14 - 27 14. SERVO MOTOR (2) El ectrom agnetic brake po wer su pply Prepare the following power supply for use with the electromagnetic brak e only. Switch Electromagnetic brake VAR 24VDC B1 B2 VAR : Surge absorber The surge a bs orber must be instal led across B1-B2. For t he selection of t he surge absorber, refer to sec ti on 13 .2 .5 . The elect[...]

14 - 28 14. SERVO MOTOR 14.7.2 Vibr ation rank The vibration rank of the s ervo motor is V-10 at t he rated speed. M easure vibration i n the fol lowing posi tion with the servo motor in stalled as shown be low. Top Bottom Servo motor Measuring position Servo Motor Vi bration Measur ing Condit ions 14.7.3 Mac hine Acc uracies The foll owing table i[...]

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. Applic ation Phas e U Phas e V Phas e W Ear th [...]

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. Applic ation Phase U Phase V Phase W Earth BC2419 2* 20 5557-04R-210 (Receptacle) 5556 PBT L (F e[...]

14 - 31 14. SERVO MOTOR Var iable Dimens ions Model Output [W ] LK L Braking 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- KFE43B 400 156.5 72.1 1.3 0.72 2.1 (Note)[Unit: m m] Note: The dimensions without tolerances are reference dimensions. BC2419 4* 20 5557-06R-210 (Receptacle) 5556 PBT L [...]

14 - 32 14. SERVO MOTOR 14.8.2 HC- SFE series (1) Stand ard (with out electr omagn 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-SF E52 0.5 150.5 51.5 6.7 5.5 HC-SF E102 1.0 175.5 76.5 13.8 7.5 HC-SF E152 1. 5 20 0.5 101. 5 20.1 9.5 BC25010* 21 W U S30457B MS3102[...]

14 - 33 14. SERVO MOTOR (2) W ith e lectrom agnetic brak e Varia ble dim ensi ons Model Output [kW ] LK L Brakin g Force [N m] Inertia Moment J[ 10 4 kg m 2 ] W eight [kg] HC-SF E52B 0.5 18 3.5 51.5 8. 3 8.7 7. 5 HC-SF E102B 1.0 208. 5 76.5 8.3 15. 8 9. 5 HC-SF E152B 1.5 233.5 10 1.5 8.3 22.1 11 .5 BC25011* V U KL 21 93 70 L 55 12 3 50 41 111 S3045[...]

14 - 34 14. SERVO MOTOR 14.9 Outl ine dimens ion drawing (in inch es) POINT The val ues in y ards/po unds are r eference va lues. 14.9.1 HC- KFE series (1) Stand ard (with out electr omagn etic brak e, without reductio n gear) Model Output [W ] Inertia Moment WK 2 [oz in 2 ] Weight [lb] HC-KFE 13 100 0.459 1.17 Power s upply conn ec t o r pi n conn[...]

14 - 35 14. SERVO MOTOR Model Output [W ] Inertia Moment WK 2 [oz in 2 ] Weight [lb] HC-KF E73 750 8. 256 6. 614 [Unit: i n] Power supply connector pin connection list 1 2 3 4 Pin No. Applic ation Phas e U Phas e V Phas e W Ear th BC24192 * 0.787 5557-04R-210 (Receptacle) 5556PBTL (Female terminal) With connector 1-172169-9 (AMP) Arrow A Bott om To[...]

14 - 36 14. SERVO MOTOR Variable Dim ensions [in] Model Output [W ] LK L Braking Fo rce [oz in] Inertia Mome nt WK 2 [oz in 2 ] Weight [lb] HC-KF E23B 200 5.177 1.933 184. 096 2.57 3.527 HC-KF E43B 400 6.161 2.839 184. 096 3. 937 4.63 [Un it: in] BC2419 4* 0.787 5557-06R-210 (Receptacle) 5556 PBT L (F em al e term in al) With connector 1-172169-9 ([...]

14 - 37 14. SERVO MOTOR 14.9.2 HC- SFE series (1) Stand ard (with out electr omagn etic brak e, without reductio n gear) Variable Dim ensions [in] Model Output [kW ] LK L Inertia Moment WK 2 [oz in 2 ] Weight [lb] HC-SF E52 0.5 5.925 2.028 36. 632 12.125 HC-SF E102 1. 0 6.909 3.012 75.451 16.535 HC-SF E152 1. 5 7.89 4 3.99 6 109. 896 20 .944 BC25 0[...]

14 - 38 14. SERVO MOTOR (2) W ith e lectrom agnetic brak e Varia ble dim ensions [in] Model Output [kW ] LK L Brakin g Force [oz in] Iner tia Moment WK 2 [oz in 2 ] Weight [lb] HC-SF E52B 0.5 7.224 2. 028 1175.3 82 47 .567 16.535 HC-SF E102B 1.0 8. 209 3.01 2 1175.3 82 86 .386 20.944 HC-SF E152B 1.5 9. 193 3.99 6 1175.3 82 120.83 1 25 .353 BC25 011[...]

15 - 1 15. MR-E- AG SERVO AMPL IFIER COMPATIBLE WITH ANALOG INPUT 15. MR-E - AG SERVO AMPLIFIER COMPA TIBLE WITH ANALOG INPU T POINT In this chapter, difference of the operat ion 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. 15.1. Functi ons and co nfigurat ion 15.1.1 Intr[...]

15 - 2 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.1.2 Func tion block diagram The function block diagram of this servo is shown below. (Note 3) (Note 3) Regenerative brake Bas e ampl i fier Vo ltage detection Ove r- current protection Detector Dynamic brake Current detector Regenerative TR CHARGE lamp RA DS Control power suppl[...]

15 - 3 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.1.3 Ser vo amplif ier stand ard specif ications Servo Amplifier MR-E- Item 10AG 20AG 40AG 70AG 100AG 200AG Volta ge/frequ ency 3-phase 200 to 230VAC, 50/ 60Hz or 1-phase 230VA C, 50/60Hz 3-phase 200 to 230VAC, 50/60Hz Permissible voltage fluc tuation 3-phase 200 to 230V AC: 170[...]

15 - 4 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.1.4 Mode l 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 ate Rating plate Rating plate Ser ies Rated output Analog in put Symb ol Rated out put [W] Symb ol Rated output [W] - MR - E 15.1.5 Par ts ident [...]

15 - 5 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (2) MR-E-200AG Refer to Name/Applica tion Section15.5 Displa y The 5-digit, seven-s egment LED shows the servo stat us a nd al arm numbe r. Used to set data. Used to change the displ ay or d ata in each mode. Used to change the mode. MODE UP DOWN SET Opera tion sectio n Used to pe[...]

15 - 6 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.1.6 Ser vo system with auxiliar y equipm ent W ARNING To preve nt an elec tric s hock, always c onnect t he pr otective eart h (PE) ter minal (term inal m ar k ed ) of the servo amplifi er to the prot ecti ve earth (P E) of the contr ol box. (1) MR-E-100AG or less MODE CN3 SET [...]

15 - 7 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (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 BI S HI EZMo t i on P C Options and auxi liary equipment No-fuse breaker Magnetic contactor Servo configurat ion software Reg ene rat i v e op tion Refer to Section 13.2.2 Section 13.2.2 S[...]

15 - 8 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 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 7 EMG SON ST1 ST2 LSP LSN SG 13 ALM ZSP Servo amplifier (Note 1) CN3 (Note 8) CN1 Trou ble (Note 6) Zero speed VIN (Note 2, 4) CN1 (Note 8) 4 3 SD 6 [...]

15 - 9 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Note: 1. To prevent an electric shock, always connect the protecti ve earth (PE) terminal (terminal marked ) of the s erv o am plif ier to the protecti ve eart h (PE) of the control box . 2. Connect the diode in the correct direction. If it is connected reversely, t he servo ampli[...]

15 - 10 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (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 (Note 1 ) CN3 (Note 8) CN1 Troubl e (Note 6 ) Zero s peed VIN (Note 9 ) Ser vo conf igur atio n software (Note 7 ) Communi cation cable (Note 2 , 4) [...]

15 - 11 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.2.2 Inter nal connec tion diagram of s ervo amplif ier The foll owing is t he internal connection diagram where the signal assi gnment has been made in the initial status in each contro l mode. T RD RD 11 ST2 ST1 EMG LSP LSN SG EMG SG RS2 SD SD S 13 Serv o ampl ifier CN1 CN1 ([...]

15 - 12 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.2.3 Connec tors and s ignal arr angem ents POINT The pin configura t ions of the connect ors are as vi ewed from the cable connector wiring section. Refer to the next pa ge for CN1 s ignal assi gnment. (1) Si gnal arr angem ent 3 MR 57 MD 9 2 LG 4 MRR 68 MDR 10 LG 1 MODE CN3 S[...]

15 - 13 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (2) CN1 s ignal assignm ent The signal assi gnment of connector changes with the control mode as indicated b elow; 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. (Note2) I/O S ignals in cont rol[...]

15 - 14 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.2.4 Sig nal explanati ons For th e I/O in terface s (sym bols in I/O c olumn in the table), r efer to Sectio n 3.6. 2. In the control mode field of the tabl e S: speed control mode, T: Torque control mode : Deno tes th at the signal may be u sed in the in itial setting statu s[...]

15 - 15 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O division ST Used to sta rt th e serv o mot or in any of the foll owing directi ons : (Note) Input signals ST2 ST1 Servo m otor starting direction Forward rota ti on start ST1 CN1 -3 0 0 Stop ( serv o loc[...]

15 - 16 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O division ST Servo-on SON CN1-4 Same as MR-E- A. (Refer to (1) in S ection 3.3. 2) DI-1 Reset RES DI-1 Proport ion control PC DI-1 Emergenc y stop EMG CN 1-8 DI-1 Gain changing CDP DI-1 Analog torque limi[...]

15 - 17 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (2) Output signals Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O division ST Speed reach ed SA SA-SG are conn ected w hen t he s ervo motor s peed has nearly reach ed t he p res et sp eed. Wh en th e pr eset sp eed i s 50 r/min or less , SA-SG are k[...]

15 - 18 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.2.5 Detai led descrip tion of the signals (1) Speed control mode (a) Speed setting 1) Speed comm and and spee d The servo motor is run at the sp eeds set in the parameters or at the speed set in the applied voltage of the a nalog speed command (VC). A relationship bet ween the[...]

15 - 19 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 2) Speed sele ction 1 (SP 1), speed selectio n 2 (SP2), sp eed sele ction 3 ( SP3) and spe ed comman d value By makin g spee d select ion 1 ( SP1), speed selection 2 (SP 2) and speed se lection 3 (SP 3) usable by setti ng of parameter No. 43 to 47, you can choose the speed comman[...]

15 - 20 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (c) Torque limit 1) Torque limi t and tor que By se tt ing p a ra m ete r N o . 28 ( in ter n al torqu e l imi t 1), tor q ue i s alway s li m i ted to th e max imu m value during operati on. A relationship between the limit value and servo motor torque is shown below. 0 0 100 Ma[...]

15 - 21 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (2) Torque control mode (a) Torque control 1) Torque command and torque A relati onship between th e applied voltage of the analog torque command (TC) and the torque by the serv o moto r is show n below. The maximum torque is generated at 8V. Note that th e tor que at 8V inpu t c[...]

15 - 22 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 2) Analog to rque comm and off set Using parameter No. 30, the offset voltage of 99 9 to 99 9mV can be added to the TC applied voltage as shown bel ow. 0 8( 8) Max. t orque Generated torque TC applied voltage [V] Parameter No.30 offset ra nge 999 to 999mV (b) Tor que lim it By se[...]

15 - 23 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 2) Speed se lectio n 1(SP1) /speed selec tion 2( SP2)/sp eed se lection 3(SP3) and spee d lim it va lues Choose an y of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1) , speed select ion 2(SP2) and speed selection 3( SP3) or the spe ed set[...]

15 - 24 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (3) Sp ee d/ to rqu e cont rol ch ang e mod e Set "00 03" in par ameter No. 0 to switc h to the sp eed/tor que con trol chan ge mod e. (a) Control change (LOP) Use control change (LO P) to switch between the speed control mode and the torque control mode from an e xtern[...]

15 - 25 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.3 Startup W ARNING Do not oper ate the s witches wit h wet hands. Yo u 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 ng pow e r- on for so me aft e r powe r- o ff, d o no t[...]

15 - 26 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (4) Servo-on Switch t he servo-on in t he followin g procedure: 1) Switch on power supply. 2) Switch on the servo-on (SON). When plac ed in the servo-on status, the servo amplifier is ready t o operate and the servo motor is locked. (5) Start Using speed sel ection 1 (SP1) a nd s[...]

15 - 27 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 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, the display s hows "U (torque command volta ge)", and in two second later , show s data. (2) T est oper ation Using jog operation in the test operati on mode, make[...]

15 - 28 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (6) Stop In any of the following stat uses, the servo amplifier in terrupts and stops the operation of the servo motor: Refer to Section 3.9 , (2) for the servo motor equipped with electromagnetic brake. (a) Servo-on (SON) OFF The base circuit is shut off and the servo motor coas[...]

15 - 29 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.4 Param eters POINT Before changing the settings of parameters No. 20 through 84, cancel write protect ion while referring to Sect ion 5.1.1. For any para meter whose symbol is preceded by *, set the parameter value and s witch power off once, then s witch it on again to mak e[...]

15 - 30 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT No. Symbol Name Control mode Initial value Unit Cust omer setti ng 20 *OP2 Function selecti on 2 S T 0000 21 For manufacturer setting 0000 22 *OP4 Function selecti on 4 S T 0000 23 For manufacturer setting 0 24 ZSP Zero sp eed S T5 0 r / m i n Anal og sp eed c ommand maxi mum spe[...]

15 - 31 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT No. Symbol Name Control mode Initial value Unit Cust omer setti ng 65 *CDP Gain changing selection S 0000 66 CDS Gain cha nging condition S 10 (N o t e 2) 67 CDT Gain changing time constant S 1 ms 68 For manufacturer setting 0 69 1 70 1 71 1 Internal speed command 4 S 72 SC4 Inte[...]

15 - 32 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.4.2 Detai ls list Class No. Symbol Name and function Initial value Unit Setting range Control mode Control mod e , reg enerati ve brake op ti on selecti on Used to select t he cont rol mode and re generative brake op tion. Select the control mode. 0:Speed 1:Speed and torque 2:[...]

15 - 33 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 2 ATU Auto tuning Used to s election the r esponse level , etc. for e xecution of a uto tuning. Refer to Chapter 7. Auto tuning r es p on se le v el set ti ng If the m achine h unts o r gener ates la[...]

15 - 34 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode Internal speed command 1 Used to set speed 1 of int ernal speed com mands. S 8S C 1 Internal speed limit 1 Used to s et speed 1 of int ernal speed limi ts. 100 r/min 0 t o insta n- tan eous perm i- s[...]

15 - 35 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 14 TQC Torq ue co mmand time consta nt Us ed to set the const ant of a low pa ss fi lter in re sponse to th e tor que command . Torque command TQC TQC Time Afte r filtered TQC: Torque command time co[...]

15 - 36 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 17 MOD Analog monitor output Us e d to se lec t ion th e si g nal pr ovi ded to the a nalo g mon itor (MO1) analog monitor (MO2) output. (Refer to Section 5.2.2) Settin g 0 Analog monitor 2 ( MO 2) S[...]

15 - 37 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode Paramet er blo ck Used to sel ect th e refe renc e and w rite ranges of t he para meters . Operati on can b e perf ormed for th e para meters marked . Set value Operation Basic parameters No. 0 to No[...]

15 - 38 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 0000 Refer to Name and funct ion column. S S 20 *OP2 Function selecti on 2 Used to select restart aft er instantaneous power failur e, servo lock at a stop in sp eed control mode, and slight vibratio[...]

15 - 39 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode S 22 *OP4 Function selecti on 4 U s e d to s e l e c t s t op p r o c es s i ng at f o r w a rd ro ta ti on s t r o k e e n d ( L S P) reverse rotation st roke end (LSN) off, choose TLC/VLC output an[...]

15 - 40 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 27 *ENR Encod er outp ut puls es Used to s et the enc oder p uls es (A- phase or B-p hase) output by the servo amplifier. Se t the v alue 4 time s gre ate r than the A - phas e or B -pha se pu lse s.[...]

15 - 41 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode Anal og torq ue c omman d offs et Used to s et the offs et volt age of the anal og t orque c omman d (TC ). T 30 TLO Anal og torq ue li mit of fset Used to s et the offs et volt age of the anal og to[...]

15 - 42 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode S T 41 *DIA Input signal automatic O N selection Used to set aut omatic servo-on (SO N) forward rotation stroke end (LSP) reverse rota tion str oke e nd (LSN) . Servo-on (SON) input selection 0: Swit[...]

15 - 43 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 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 assigned to CN1-pin 4. Note that t he setting digit and assigned signal differ according t o the contro[...]

15 - 44 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 44 *DI3 Input signal sele ction 3 (CN1-3) Allows any input signal t o be assigned to CN1-pin 3. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 4[...]

15 - 45 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 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 assigned to CN1-pin 7. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43[...]

15 - 46 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode Expansio n parameters 1 49 * DO1 Output signal selection 1 Used to select t he connecto r pins to output the alarm code and warning (WNG). Setting of alarm code output Connector pins Set value CN1-10[...]

15 - 47 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 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 means. 0000 51 *OP6 Function selecti on 6 Used to sel ect t he op eration to b e pe rformed when the reset (RES ) switch es on. 0 00 Ope[...]

15 - 48 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 58 NH1 Machine res onance suppression filte r 1 Used to sel ectio n the machin e res onanc e sup pressi on f ilter. (Ref er to S ecti on 8.2.) 2 3 0 0 1 40dB 14dB 8dB 4dB Notch fre quency selecti on [...]

15 - 49 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 60 LPF Lo w-pass filter/adaptive vibration suppression c ontrol Used to selection the low-pass filter and adaptive vibration supp ression cont rol. ( Ref er to C hapt er 8.) 0 Low-pass filter selecti[...]

15 - 50 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 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 to Section 8.5.) 0 00 Gain ch anging selection Gains are c hanged in accordance with t he settings of parameters No.[...]

15 - 51 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Class No. Symbol Name and function Initial value Unit Setting range Control mode 76 TL2 Inte rnal torque limit 2 Set this parame ter to li mit se rvo mo tor torqu e on the assu mption that the maximum t orque is 100[%]. Whe n 0 is se t, to rque i s not p rod uced. When torque is [...]

15 - 52 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Cumulative feedback pulses [p ulse] Moto r spee d [r/min] Command pulse frequency [kpps] Speed command voltage Speed limit voltage[m V] Torq ue li mit v oltag e Tor que c omm an d vo lta ge Regenerati ve load ratio [%] Effective load ratio [%] Peak lo ad ratio [%] Within one-re v[...]

15 - 53 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.5.2 Status displa y (1) St at us display li st The foll owing table l ists the s ervo status es that may be s hown: Name Symbol Unit Description Display range Cumulative feedback pulse s C pulse Feedback p ulses fro m the serv o moto r encod er a re cou nted and disp layed . T[...]

15 - 54 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (2) Ch an gi ng th e stat u s disp lay scr ee n The sta tus display item of the servo amplifi er display shown at power-on can be changed by changing the pa rame ter No. 18 se tting s. The it em disp la yed i n the init ia l stat us c hange s with the c ontr ol mode as foll ows: [...]

15 - 55 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.5.3 D iagnostic m ode Name Di splay Descr iptio n Not r eady. Indicates that the s ervo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indi cates t hat t he serv o was switc hed on aft er c ompl etion of initialization and the serv o amplifier is read[...]

15 - 56 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT Name Di splay Descr iptio n Motor se ries Press the "SET" but ton t o sh ow the mot or seri es ID of t he ser vo motor c urrentl y conne cted. Motor type Press the "SET" button to sh ow the motor type ID of the s ervo motor c urrentl y conne cted. Encoder Pres[...]

15 - 57 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.5.4 Ext ernal I/O si gnal displ ay The ON/OFF states of the digit al I/O signal s connected to the servo a mplifier can be confi rmed. (1) Operation Call t he displa y s creen shown aft er power-on. Using t he "MODE" button, show the diagnostic screen. Press UP once.[...]

15 - 58 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (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) Servo -on LSN (CN 1-7) Reverse rotation stroke end LSP (CN 1-6) Fo rward rotation stroke end RD (CN 1-11) Ready ZSP (CN 1- 1 2) Z e ro sp eed ALM (CN[...]

15 - 59 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 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. Start -up sequence Fault Inves tigation Possible c ause Referenc e Not i mprov ed if connect [...]

15 - 60 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT (2) T orque control m ode No. Start -up sequence Fault Inves tigation Possible c ause Referenc e Not i mprov ed if connect ors CN1, CN2 and CN3 are discon nected . 1. Power supply voltage fault 2. Servo amplifier is faulty. Improve d when con nectors CN1 is disconnected. Power su[...]

15 - 61 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT 15.6.2 Alarm s 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 an ala rm. When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or wa[...]

15 - 62 15. MR-E - AG SERVO AMPLIFIER COM PATIBLE W ITH ANALOG IN PUT MEMO[...]

REVISIONS *The manual numb er is given on the bottom left of the b ack cover. Print data * M anual number Revision Sep.,2002 SH(NA)030031-A First edition Mar.,2003 SH(NA)030031-B "Note 2" in (1) Envir onmental C ondition is delet ed from Safety Precautions 4. The "conc erning sal e" item i s delet ed. The "Com pli a nce wit[...]

Print data * M anual number Revision Mar.,2003 SH(NA)030031-B Chapter 14: Point is delet ed. Section 14.2: Rat ing plate is changed. Section 14.7.3 : Added. Chapter 15: 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. This Instruction Manual uses recycled paper. MODEL MODEL CODE[...]