Mitsumi electronic mr-j3-b инструкция обслуживания

SH (NA) 030152-A (1411) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo MR-JE-_B SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 MODEL MR-JE-_B SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET /H Interface [...]

A - 1 Safety Instructions Please read the instructions ca refully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the eq uipment until you have read through this Instruction M anual, Inst allation guide, and appended docume nts carefully. Do not use the equipment until you have a [...]

A - 2 1. To prevent electric s hock, note the following. WARNING Before wiring and inspections, turn off the power a nd wait for 15 minutes or more until the ch arge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming w hether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Gr[...]

A - 3 3. To prevent injury, note the following. CAUTION Only the voltage specified in the Instruction Man ual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct termin als. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Ot herwise, a burst, damage, etc. m[...]

A - 4 CAUTION The servo amplifier must be installed in a metal cabin et. When fumigants that contain halogen m aterials, such as fluorine, chlori ne, bromine, and iodin e, are used for disinfecting and protecting wo oden packaging from inse cts, they cause malfunction when entering our products. Please take necessary pr ecautions to ensure that rem[...]

A - 5 (3) Test run and adjustment CAUTION Before operation, check the parameter settings. Im proper setting s may cause some machine s to operate unexpectedly. Never adjust or change the parameter values drastically as doing so will make the operation unstable. Do not get close to moving parts during the servo-on status. (4) Usage CAUTION When it i[...]

A - 6 (6) Maintenance, inspecti on and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplif ier will deteriorate. To prevent a secondary accident due to a malfunction, it is recommend ed th at the electrolytic capacitor be re placed every 10 years when it is used in general environ ment. For r eplacement, please conta [...]

A - 7 «Cables used for wiring» Wires mentioned in this Instruction Ma nual are selected based o n the ambient temperature of 40 ˚ C. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if nece ssary according to the following table. Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] L[...]

A - 8 MEMO[...]

1 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-12 1.1 Summa ry ................................................................................................................... ........................ 1- 1 1.2 Function bl ock diagram .................................................................................................... .......[...]

2 3.8.1 Internal c onnection di agram ............................................................................................. ......... 3-32 3.8.2 Detailed explanati on of inte rfaces ...................................................................................... ....... 3-33 3.8.3 Source I/O interfac es ...............................[...]

3 6.3 Auto tuning ............................................................................................................... ......................... 6- 9 6.3.1 Auto tuning mode ........................................................................................................ ............... 6- 9 6.3.2 Auto tuning mode basis ...........[...]

4 11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-48 11.1 Cable/connec tor se ts ..................................................................................................... ............... 11- 1 11.1.1 Combinations of cable/connecto r sets ................................................................................... 11- 2 11.1.2 SS[...]

5 App. 7 When turning on or off the input pow er supply with DC pow er supply ................................ App.-17 App. 8 When using the hot line forced stop function in combination with MR-J4-_B servo amplif ier ..................................................................................................................... ........... App[...]

6 MEMO[...]

1. FUNCTIONS AND CONFIGURATION 1 - 1 1. FUNCTIONS AND CONFIGURATION 1.1 Summary POINT Refer to section 1.4.2 for compatible controllers. The Mitsubishi general-purpose AC servo MELSERVO-J E series have limited functions with keeping high performance based on MELSERVO-J4 series. The MR-JE-_B servo amplifier is connected to contro llers, including a [...]

1. FUNCTIONS AND CONFIGURATION 1 - 2 1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-JE-100B or less MC MCCB CN2 CN5 USB USB U U U C L3 L2 L1 U V W U V W P+ + B RA B1 B2 M CN1A CN1B CN3 CN4 Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder Encoder (No[...]

1. FUNCTIONS AND CONFIGURATION 1 - 3 (2) MR-JE-200B or more MC MCCB L3 L2 L1 U V W U V W B RA B1 B2 M CN2 N- (Note 2) CD P+ + UU U CN5 USB USB CN1A CN1B CN3 CN4 USB Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder Encoder (Note 1) Power supply Position command input Model speed Model torque M[...]

1. FUNCTIONS AND CONFIGURATION 1 - 4 1.3 Servo amplifier standard specifications Model: MR-JE- 10B 20B 40B 70B 100B 200B 300B Output Rated voltage 3-phase 170 V AC Rated current [A] 1.1 1.5 2.8 5.8 6.0 11.0 11.0 Power supply input Voltage/frequency 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/6[...]

1. FUNCTIONS AND CONFIGURATION 1 - 5 1.4 Combinations of servo amplif iers, servo motors, and controllers 1.4.1 Combinations of servo amplifiers and servo motors Servo amplifier Servo motor MR-JE-10B HG-KN13_ MR-JE-20B HG-KN23_ MR-JE-40B HG-KN43_ MR-JE-70B HG-KN73_ HG-SN52_ MR-JE-100B HG-SN102_ MR-JE-200B HG-SN152_ HG-SN202_ MR-JE-300B HG-SN302_ 1.[...]

1. FUNCTIONS AND CONFIGURATION 1 - 6 1.5 Function list The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field. Function Description Detailed explanation Model adaptive control This function realizes a hi gh response and stable control following the ideal[...]

1. FUNCTIONS AND CONFIGURATION 1 - 7 Function Description Detailed explanation Drive recorder function This function continuously moni tors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Confi gurator2 by clicking the "G[...]

1. FUNCTIONS AND CONFIGURATION 1 - 8 1.6 Model designation (1) Rating plate The following shows an example of the ra ting plate for explanation of each item. Serial number TOKYO 100-8310, JAPAN MADE IN JAPAN DATE: 2014-11 MR-JE-10B SER. A4Y001001 AC SERVO POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300194 Max. Surrounding Air Temp.: 55°C[...]

1. FUNCTIONS AND CONFIGURATION 1 - 9 1.7 Structure 1.7.1 Parts identification (1) MR-JE-100B or less (1) (2) (6) (9) (5) (4) (3) (7) (8) (10) (12) (11) (13) Side No. Name/Application Detailed explanation (1) Display The 3-digit, 7-segment LED s hows the servo status and the alarm number. Section 4.3 (2) Axis selection rotary sw itch (SW1) Used to s[...]

1. FUNCTIONS AND CONFIGURATION 1 - 10 (2) MR-JE-200B or more (1) (3) (2) (6) (5) (7) (12) (11) (14) Side (9) (10) (13) (8) (4) No. Name/Application Detailed explanation (1) Display The 3-digit, 7-segment LED s hows the servo status and the alarm number. Section 4.3 (2) Axis selection rotary sw itch (SW1) Used to set the axis number of the servo amp[...]

1. FUNCTIONS AND CONFIGURATION 1 - 11 1.8 Configuration including peripheral equipment CAUTION Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. POINT Equipment other than the servo amplif ier and servo motor are optional or recommended products. (1) MR-JE-100B or less The diagram shows MR[...]

1. FUNCTIONS AND CONFIGURATION 1 - 12 (2) MR-JE-200B or more The diagram shows MR-JE-200B. Power factor improving AC reactor (FR-HAL) Line noise filter (FR-BSF01) CN5 Personal computer MR Configurator2 CN2 CN4 W V U L1 L2 L3 (Note 2) Magnetic contactor (MC) Molded-case circuit breaker (MCCB) RS T (Note 1) Power supply Servo motor CN3 CN1A CN1B Batt[...]

2. INSTALLATION 2 - 1 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. CAUTION Stacking in excess of the specified number of product packages is not allowed. Do not hold the lead wire of the built -in regenerative resistor when transporting the servo amplifier. Install the equipment on incombustible material . Inst[...]

2. INSTALLATION 2 - 2 2.1 Installation direction and clearances CAUTION The equipment must be installed in the s pecified direction. Otherwise, it may cause a malfunction. Leave specified clearances between the serv o amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction. MR-JE-40B to MR-JE-100B have a regenerati[...]

2. INSTALLATION 2 - 3 (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo amplifier. Refer to section 1.3 for ava ilability of close mounting. Leave a large clearance between the top of the serv o amplifier and the cabinet walls, and install a cooling fan to prevent the internal t[...]

2. INSTALLATION 2 - 4 2.3 Encoder cable stress (1) The way of clamping the cable must be fully ex amined so that bending stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo moto r moves, fix the cables (encoder, power supply, and brake) with having some slack from the con[...]

2. INSTALLATION 2 - 5 (3) Precautions for migrating plasticizer added materials Generally, soft polyvinyl chloride (PVC), polyeth ylene resin (PE), and fluorine resin contain non- migrating plasticizer and they do not affect the optical characteristic of the SSCNET III cable. However, some wire sheaths and cable ties that contain migr ating plastic[...]

2. INSTALLATION 2 - 6 (7) Twisting If optical fiber is twisted, it w ill become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases , and the breakage of the optical fiber may occur. (8) Disposal When the optical cable (cord) used for an SSCNET III cable, hydrogen fluoride gas o[...]

2. INSTALLATION 2 - 7 2.6 Parts having service lives Service lives of the following parts are listed below . However, the service life varies depending on operating methods and environment. If any fault is found in the parts , they must be replaced immediately regardless of their service lives. For parts replacement, please contact your local sales[...]

2. INSTALLATION 2 - 8 MEMO[...]

3. SIGNALS AND WIRING 3 - 1 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring s hould be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, alway[...]

3. SIGNALS AND WIRING 3 - 2 CAUTION Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. U Servo motor M V W U V W U M V W U V W Servo amplifier Servo motor Servo amplifier Connecting a servo motor of the [...]

3. SIGNALS AND WIRING 3 - 3 (1) For 3-phase 200 V AC to 240 V AC power supply of MR-JE-10B to MR-JE-100B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amp lifiers, the hot line forced stop function is disabled at factory setting. If an alarm occurs, the hot line forced stop [...]

3. SIGNALS AND WIRING 3 - 4 Note 1. MR-JE-40B to MR-JE-100B have a built-in regenerative re sistor. (factory-wired) When using the regenerative option, re fer to section 11.2. 2. For the encoder cable, use of the opt ion cable is recommended. For cable selecti on, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual". 3. This diagram is[...]

3. SIGNALS AND WIRING 3 - 5 (2) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-10B to MR-JE-100B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amp lifiers, the hot line forced stop function is disabled at factory setting. If an alarm occurs, the hot line forced stop [...]

3. SIGNALS AND WIRING 3 - 6 Note 1. MR-JE-40B to MR-JE-100B have a built-in regenerative re sistor. (factory-wired) When using the regenerative option, re fer to section 11.2. 2. For the encoder cable, use of the opt ion cable is recommended. For cable selecti on, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual". 3. This diagram is[...]

3. SIGNALS AND WIRING 3 - 7 (3) For 3-phase 200 V AC to 240 V AC power supply of MR-JE-200B or MR-JE-300B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amp lifiers, the hot line forced stop function is disabled at factory setting. If an alarm occurs, the hot line forced stop[...]

3. SIGNALS AND WIRING 3 - 8 Note 1. A lways connect between P+ and D terminals. (factor y -wired) When using the regenerative option, refer to section 11.2. 2. For the encoder cable, use of the opt ion cable is recommended. For cable selecti on, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual". 3. This diagram is for the sink I/O i[...]

3. SIGNALS AND WIRING 3 - 9 (4) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-200B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amp lifiers, the hot line forced stop function is disabled at factory setting. If an alarm occurs, the hot line forced stop function outp[...]

3. SIGNALS AND WIRING 3 - 10 Note 1. A lways connect between P+ and D terminals. (factor y -wired) When using the regenerative option, refer to section 11.2. 2. For the encoder cable, use of the opt ion cable is recommended. For cable selecti on, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual". 3. This diagram is for the sink I/O [...]

3. SIGNALS AND WIRING 3 - 11 3.2 I/O signal connection example POINT EM2 has the same function as EM1 in the torque control mode. 3.2.1 For sink I/O interface 20 EM2 10 Servo amplifie r CN3 (Note 11) CN3 Electromagnetic brake interlock 13 MBR RA1 DOCOM DICOM 3 (Note 12) Power supply (Note 10) 24 V DC 10 m or less 10 m or less Servo amplifier (Note [...]

3. SIGNALS AND WIRING 3 - 12 3.2.2 For source I/O interface POINT For notes, refer to section 3.2.1. 10 20 EM2 CN3 CN3 13 MBR RA1 DICOM CN5 MR Configurator2 + MR-J3USBCBL3M CN1A CN1B CN1A CN1B CN1B CN1A 3 DOCOM Servo amplifier (Note 11) Electromagnetic brake interlock (Note 12) Power supply (Note 10) 24 V DC 10 m or less 10 m or less Servo amplifie[...]

3. SIGNALS AND WIRING 3 - 13 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of the connector and te rminal block, refer to chapter 9 DIMENSIONS. Symbol Connection destination (application) Description L1/L2/L3 Power supply Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC of MR-JE-[...]

3. SIGNALS AND WIRING 3 - 14 3.3.2 Power-on sequence POINT The output signal, etc. may be unstable at power-on. (1) Power-on procedure (a) Always use a magnetic contactor for the power supply wiring (L1, L2, and L3) as shown in above section 3.1. Configure the power supply circuit that turns off the magnetic contactor after an alarm occurs on the c[...]

3. SIGNALS AND WIRING 3 - 15 3.3.3 Wiring CNP1 and CNP2 POINT For the wire sizes used for wi ring, refer to section 11.6. For the wiring to CNP1 and CNP2, use servo amplifie r power connectors packed with the amplifier or optional connectors (refer to section 11.1.1). (1) Connector (a) MR-JE-10B to MR-JE-100B CNP1 Servo amplifie r Table 3.1 Connect[...]

3. SIGNALS AND WIRING 3 - 16 (2) Cable connection procedure (a) Fabrication on cable insulator Refer to table 3.1 and 3.2 for stripped length of t he cable insulator. The appropriate stripped length of cables depends on their type, etc. Se t the length considering their status. Insulato r Core Stripped length Twist strands lightly and straighten th[...]

3. SIGNALS AND WIRING 3 - 17 3.4 Connectors and pin assignment POINT The pin assignment of the connectors is as viewed from the cable connector wiring section. For the CN3 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Screw Screw Ground plate Cable The servo amplifier[...]

3. SIGNALS AND WIRING 3 - 18 3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division co lumn in the table), refer to section 3.8.2. The pin numbers in the connector pin number co lumn are those in the initial status. 3.5.1 Input device Device Symbol Connector pin number Function and application I/O division Forced stop 2 EM[...]

3. SIGNALS AND WIRING 3 - 19 3.5.2 Output device (1) Output device pin The following shows the output device pi ns and parameters for assigning devices. Connector pin number Parameter Initial device I/O division CN3-13 [Pr. PD07] MBR DO-1 (2) Output device explanations Device Symbol Function and application Electromagnetic brake interlock MBR When [...]

3. SIGNALS AND WIRING 3 - 20 Device Symbol Function and application Limiting torque TLC When the torque reaches the torque limit value during torque generation, TLC will turn on. When the servo is off, TLC will be turned off. This device cannot be used in the torque control mode. Warning WNG When a warning has occurred, WNG turns on. When a warning[...]

3. SIGNALS AND WIRING 3 - 21 3.6 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration cannot be guaranteed. (Refer to chapter 8.) When SSCNET III/H communication brake o ccurs, forced stop deceleration will operate. (Refer to section 3.7.1 (3).) In the torque control mode, [...]

3. SIGNALS AND WIRING 3 - 22 (2) Timing chart When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC24 Forced stop deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed] after completion of the deceleration command, base power is cut and the dynamic brake activates. Base circuit (Energy supply t[...]

3. SIGNALS AND WIRING 3 - 23 (2) Adjustment While the servo motor is stopped, turn off EM2 (For ced stop 2), adjust the base circuit shut-off delay time in [Pr. PC02], and set the value to approximately 1.5 times of the smallest delay time in which the servo motor shaft does not freefall. 3.6.3 Vertical axis fr eefall prevention function The vertic[...]

3. SIGNALS AND WIRING 3 - 24 3.7 Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. POINT In the torque control mode, the forc ed stop deceleration function cannot be used. To deactivate the alarm,[...]

3. SIGNALS AND WIRING 3 - 25 (2) When the forced stop deceleration function is not enabled MBR (Electromagnetic brake interlock) ON OFF ON (no alarm) OFF (alarm) Base circuit (Energy supply to the servo motor) ON OFF Servo amplifier display 0 r/min Servo motor speed ALM (Malfunction) No alarm Alarm No. Braking by the dynamic brake Dynamic brake + B[...]

3. SIGNALS AND WIRING 3 - 26 3.7.3 Hot line forced stop function POINT When the power supply of the servo amplifie r is shut off during deceleration to a stop by a hot line forced stop signal, t he servo motor will be stopped with the dynamic brake. For using the hot line forced stop function with MR-JE-_B servo amplifier and MR-J4-_B servo amplifi[...]

3. SIGNALS AND WIRING 3 - 27 (d) When the power supply of a servo amplifier in which an alarm occurred is shut off, subsequent servo amplifiers will decelerate to a stop, and the cont roller will be in a non-connection state. "AA" will be shown on the display of the servo amplifier. (4) Timing chart (a) When the hot line forced stop funct[...]

3. SIGNALS AND WIRING 3 - 28 2) If an alarm that stops the servo motor with t he dynamic brake occurs in the second axis servo amplifier, and then the power supply is off To clear [AL. E7.1 Controller forced stop warning], give the error reset command from the controller. No alarm 0 r/min 0 r/min 0 r/min Input power supply Servo amplifier display T[...]

3. SIGNALS AND WIRING 3 - 29 3) When the power of the second ax is servo amplifier is turned off No alarm 0 r/min 0 r/min 0 r/min Input power supply Servo amplifier display The first axis servo amplifier Servo motor speed Hot line alarm signal (from the servo amplifier whose power is turned off) Hot line forced stop signal (from the controller) Pow[...]

3. SIGNALS AND WIRING 3 - 30 4) When power supplies of all servo amplifiers are turned off 0 r/min Hot line alarm signal (from the servo amplifier whose power is turned off) Hot line forced stop signal (from the controller) Power on duration Stop with dynamic brake No alarm Blank ON OFF ON OFF Input power supply Servo amplifier display A ll servo a[...]

3. SIGNALS AND WIRING 3 - 31 2) If an alarm that stops the servo motor with t he dynamic brake occurs in the second axis servo amplifier, and then the power supply is off No alarm 0 r/min 0 r/min 0 r/min Input power supply Servo amplifier display The first axis servo amplifier Servo motor speed Hot line alarm signal (from the servo amplifier in whi[...]

3. SIGNALS AND WIRING 3 - 32 3.8 Interfaces 3.8.1 Internal connection diagram Approximately 6.2 k Ω Encoder 3 2 4 7 8 MR MRR MD MDR LG PE Servo motor M CN2 EM2 CN3 20 10 CN3 3 13 DOCOM Servo amplifier (Note 1) USB D+ GND D- 2 3 5 CN5 MBR DICOM Forced stop 2 (Note 1) RA (Note 2) 24 V DC (Note 2) 24 V DC Isolated Note 1. This diagram is for the sink[...]

3. SIGNALS AND WIRING 3 - 33 3.8.2 Detailed explanation of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and ma ke connection with the external device. (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode [...]

3. SIGNALS AND WIRING 3 - 34 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit in which the anode of the phot ocoupler is the input terminal. Transmit signals from source (open-collector) type transis tor output, relay switch, etc. V CES 1.0 V I CEO[...]

3. SIGNALS AND WIRING 3 - 35 3.9 SSCNET III cable connection POINT Do not look directly at the light gener ated from the CN1A/CN1B connector of the servo amplifier or the end of the SSCNET III cable. The light can be a discomfort when it enters the eye. (1) SSCNET III cable connection For the CN1A connector, connect the SSCNET III cable c onnected [...]

3. SIGNALS AND WIRING 3 - 36 (a) Connection 1) For an SSCNET III cable in the shipping status, t he tube for protecting the optical cord end is put on the end of connector. Remove this tube. 2) Remove the CN1A and CN1B connector caps of the servo amplifier. 3) While holding a tab of the SSCNET III cable connecto r, make sure to insert it into the C[...]

3. SIGNALS AND WIRING 3 - 37 3.10 Servo motor with an electromagnetic brake 3.10.1 Safety precautions CAUTION Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. Servo motor Electromagnetic brake B U RA Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns o[...]

3. SIGNALS AND WIRING 3 - 38 (2) Setting In [Pr. PC02 Electromagnetic brak e sequence output], set a delay time (Tb) from MBR (Electromagnetic brake interlock) off to base circuit shut-off at a se rvo-off as in the timing chart in section 3.10.2. 3.10.2 Timing chart (1) When you use the forced stop deceleration function POINT To enable the function[...]

3. SIGNALS AND WIRING 3 - 39 (b) Off/on of the forced stop command (fro m controller) or EM2 (Forced stop 2) POINT In the torque control mode, the forc ed stop deceleration function cannot be used. ON ON OFF (Note 2) Model speed command 0 and equal to or less than zero speed Disabled (ON) Enabled (OFF) OFF Forced stop command (from controller) or E[...]

3. SIGNALS AND WIRING 3 - 40 (e) Ready-off command from controller Electromagnetic brake MBR (Electromagnetic brake interlock) Base circuit Servo motor speed Ready-on command (from controller) (Note) ON OFF ON OFF ON OFF Approx. 10 ms 0 r/min Dynamic brake Dynamic brake + Electromagnetic brake Operation delay time of the electromagnetic brake Note.[...]

3. SIGNALS AND WIRING 3 - 41 3.11 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, always c onnect the protective earth (PE) terminal (marked with ) of the servo amplifier to the prot ective earth (PE) of the cabinet. The servo amplifier switches the power transistor on- off to supply power to the[...]

3. SIGNALS AND WIRING 3 - 42 MEMO[...]

4. STARTUP 4 - 1 4. STARTUP WARNING Do not operate the switches with wet hands . Otherwise, it may cause an electric shock. CAUTION Before starting operation, check the par ameters. Improper settings may cause some machines to operate unexpectedly. The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on [...]

4. STARTUP 4 - 2 4.1.2 Wiring check (1) Power supply system wiring Before switching on the power supply, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1, L2, and L3) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.) (b) Connection of the servo ampl[...]

4. STARTUP 4 - 3 (2) I/O signal wiring (a) The I/O signals should be connected correctly. Use the DO forced output to forcibly turn on or off the pins of the CN3 connector. This function can be used to check the wiring. At this time, check the wiring in the servo-off status. Refer to section 3.2 for details of I/O signal connection. (b) A voltage e[...]

4. STARTUP 4 - 4 4.2 Startup Connect the servo motor with a machine after confir ming that the servo moto r operates properly alone. (1) Power on When the power supply is turned on, "b01" (for the first axis) appears on the servo amplifier display. When you use the absolute position det ection system, first power-on results in [AL. 25 Abs[...]

4. STARTUP 4 - 5 (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake. Operation and command Stopping condition Servo system controller Servo-off command The base circuit is shut off and the ser[...]

4. STARTUP 4 - 6 The control axis No. can be set in the range of 1 to 16 with the axis selection rotary switch.a t If the same numbers are set to different control axes in a single communication sy stem, the system will not operate properly. The control axes may be set independently of the SSCNET III cable connection sequence. Table 4.1 shows contr[...]

4. STARTUP 4 - 7 4.3.2 Scrolling display (1) Normal display When there is no alarm, the axis No. and blank are displayed in rotation. Status (1 digit) Axis No. (2 digits) "b" "C" "d" : Indicates ready-off and servo-off status. : Indicates ready-on and servo-off status. : Indicates ready-on and servo-on status. Status A[...]

4. STARTUP 4 - 8 4.3.3 Status display of an axis (1) Display sequence The segment of the last 2 digits shows the axis number. Servo system controller power on (SSCNET III/H communication begins) Ready-on Servo-on Ordinary operation Servo system controller power off Servo system controller power on When alarm occurs, i ts alarm code appears. Waiting[...]

4. STARTUP 4 - 9 (2) Indication list POINT Refer to section 1.6 of "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for troubl eshooting at startup. Indication Status Description Initializing System check in progress A b Initializing The servo amplifier power was switched on w hen the servo system controller power was of[...]

4. STARTUP 4 - 10 4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2 for how to power on and off the servo amplifier. POINT If necessary, verify controller programs by using motor-less operation. Refer to section 4.5.2 for the motor-less operation. Test o[...]

4. STARTUP 4 - 11 4.5.1 Test operation mode in MR Configurator2 POINT When "_ _ 1 _" is set in [Pr. PC05] to enable the test operation mode, the SSCNET III/H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked. When setting [Pr. PC05] to "_ _ 1 _" , set it via CN5 (USB c[...]

4. STARTUP 4 - 12 (b) Positioning operation Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning opera[...]

4. STARTUP 4 - 13 (2) Operation procedure 1) Set "_ _ 1 _" in [Pr. PC05] and cycle the power. When initialization is completed, the decim al point on the first digit will flicker. After 1.6 s After 0.2 s Flickering When an alarm or warning also occurs during the test operation, the decimal point on the first digit will flicker as follows.[...]

4. STARTUP 4 - 14 (b) Alarms The following alarms and warnings do not occur. Ho wever, the other alarms and warnings occur as when the servo motor is connected. Alarm and warning [AL. 16 Encoder initial communication error 1] [AL. 1E Encoder initial communication error 2] [AL. 1F Encoder initial communication error 3] [AL. 20 Encoder normal communi[...]

5. PARAMETERS 5 - 1 5. PARAMETERS CAUTION Never adjust or change the parameter values drastically as doing so will make the operation unstable. If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting. Do not set a value other than the described values in each parameter.[...]

5. PARAMETERS 5 - 2 5.1.1 Basic setting parameters ([Pr. PA_ _ ]) No. Symbol Name Initial value Unit PA01 For manufacturer setting 1000h PA02 **REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h PA04 *AOP1 Function selection A-1 2000h PA05 For manufacturer setting 10000 PA06 1 PA07 1 PA08 ATU Auto tuning mode 0001h PA0[...]

5. PARAMETERS 5 - 3 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) No. Symbol Name Initial value Unit PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II) 0000h PB03 TFBGN Torque feedback loop gain 18000 [rad/s] PB04 FFC Feed forward gain 0 [%][...]

5. PARAMETERS 5 - 4 No. Symbol Name Initial value Unit PB46 NH3 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h PB48 NH4 Machine resonance suppression filter 4 4500 [Hz] PB49 NHQ4 Notch shape selection 4 0000h PB50 NH5 Machine resonance suppression filter 5 4500 [Hz] PB51 NHQ5 Notch shape selection 5 0000h P[...]

5. PARAMETERS 5 - 5 No. Symbol Name Initial value Unit PC21 *BPS Alarm history clear 0000h PC22 For manufacturer setting 0 PC23 0000h PC24 RSBR Forced stop decelerat ion time constant 100 [ms] PC25 For manufacturer setting 0 PC26 0000h PC27 0000h PC28 0000h PC29 *COPB Function selection C-B 0000h PC30 For manufacturer setting 0 PC31 RSUP1 Vertical [...]

5. PARAMETERS 5 - 6 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) No. Symbol Name Initial value Unit PD01 For manufacturer setting 0000h PD02 0000h PD03 0000h PD04 0000h PD05 0000h PD06 0000h PD07 *DO1 Output device selection 1 0005h PD08 For manufacturer setting 0000h PD09 0000h PD10 For manufacturer setting 0000h PD11 *DIF Input filter setting (Not[...]

5. PARAMETERS 5 - 7 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) No. Symbol Name Initial value Unit PE01 For manufacturer setting 0000h PE02 0000h PE03 0000h PE04 0 PE05 0 PE06 0 PE07 0 PE08 0 PE09 0000h PE10 0000h PE11 0000h PE12 0000h PE13 0000h PE14 0111h PE15 20 PE16 0000h PE17 0000h PE18 0000h PE19 0000h PE20 0000h PE21 0000h PE22 0000h[...]

5. PARAMETERS 5 - 8 No. Symbol Name Initial value Unit PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0.00 PE62 0.00 PE63 0.00 PE64 0.00 5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) No. Symbol Name Initial value Unit PF01 For manufacturer setting 000[...]

5. PARAMETERS 5 - 9 No. Symbol Name Initial value Unit PF31 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min] PF32 For manufacturer setting 50 PF33 0000h PF34 0000h PF35 0000h PF36 0000h PF37 0000h PF38 0000h PF39 0000h PF40 0000h PF41 0000h PF42 0000h PF43 0000h PF44 0 PF45 0000h PF46 0000h PF47 0000h PF48 0000h[...]

5. PARAMETERS 5 - 10 5.2 Detailed list of parameters POINT Set a value in each "x" in the "Setting digit" columns. 5.2.1 Basic setting parameters ([Pr. PA_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PA02 **REG Regenerative option Select a regenerative option. Incorrect setting may cause the regenerative[...]

5. PARAMETERS 5 - 11 No. Symbol Name and function Initial value [unit] Setting range PA04 *AOP1 Function selection A-1 Select the forced stop input and fo rced stop deceleration function. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ Servo forced sto[...]

5. PARAMETERS 5 - 12 No. Symbol Name and function Initial value [unit] Setting range PA08 ATU Auto tuning mode Select the gain adjustment mode. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Gain adjustment mode selection 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Au[...]

5. PARAMETERS 5 - 13 No. Symbol Name and function Initial value [unit] Setting range PA09 RSP Auto tuning response Set the auto tuning response. 16 1 to 40 Setting value Machine characteristic Setting value Machine characteristic Response Guideline for machine resonance frequency [Hz] Response Guideline for machine resonance frequency [Hz] 1 Low re[...]

5. PARAMETERS 5 - 14 No. Symbol Name and function Initial value [unit] Setting range PA19 *BLK Parameter w riting inhibit Select a reference range and writing range of parameters. Refer to table 5.3 for settings. 00AAh Refer to the "Name and function" column. Table 5.3 [Pr. PA19] setting value and reading/writing range PA19 Setting operat[...]

5. PARAMETERS 5 - 15 No. Symbol Name and function Initial value [unit] Setting range PA20 *TDS Tough drive setting Alarms may not be avoided with the tough driv e function depending on the situations of the power supply and load fluctuation. You can assign MTTR (During tough drive) to the CN3-13 pin with [Pr. PD07]. Refer to the "Name and func[...]

5. PARAMETERS 5 - 16 No. Symbol Name and function Initial value [unit] Setting range PA23 DRAT Drive recorder arbi trary alarm trigger setting Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ x x Alarm detail No. setting Set the digits when you execute t he trigger with an arbitrary alarm detail No. for[...]

5. PARAMETERS 5 - 17 No. Symbol Name and function Initial value [unit] Setting range PA25 OTHOV One-touch tuning - Overshoot permissible level Set a permissible value of the overshoot amount for one-touch tuning as a percentage of the in-position range. However, setting "0" will be 50%. 0 [%] 0 to 100 PA26 *AOP5 Function selection A-5 Ref[...]

5. PARAMETERS 5 - 18 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PB01 FILT Adaptive tuning mode (adaptive filter II) Set the adaptive filter tuning. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Filter tuning mode selection S[...]

5. PARAMETERS 5 - 19 No. Symbol Name and function Initial value [unit] Setting range PB06 GD2 Load to motor inertia ratio Set the load to motor inertia ratio. The setting of this parameter will be the aut omatic setting or manual setting depending on the value set in [Pr. PA08]. Refer to the following table for details. When the parameter is automa[...]

5. PARAMETERS 5 - 20 No. Symbol Name and function Initial value [unit] Setting range PB11 VDC Speed differential compensation Set the differential compensation. To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching control selection" in [Pr. PB24]. 980 0 to 1000 PB12 OVA Overshoot amount[...]

5. PARAMETERS 5 - 21 No. Symbol Name and function Initial value [unit] Setting range PB17 NHF Shaft resonance suppression filter Set the shaft resonance suppression filter. Use this parameter to suppress a low-frequency machine vibration. When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection&q[...]

5. PARAMETERS 5 - 22 No. Symbol Name and function Initial value [Unit] Setting range PB19 VRF11 Vibration suppression control 1 - Vibration frequency Set the vibration frequency for the vibration suppression control 1 to suppress low-frequency machine vibration. When "Vibration suppression control 1 tuning mode se lection" is "Automa[...]

5. PARAMETERS 5 - 23 No. Symbol Name and function Initial value [Unit] Setting range PB24 *MVS Slight vibration suppression control Select the slight vibration suppression control and PI-PID switching control. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Slight vibration suppression control sele[...]

5. PARAMETERS 5 - 24 No. Symbol Name and function Initial value [Unit] Setting range PB26 *CDP Gain switching function Select the gain switching condition. Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60]. Refer to the "Name and function" column. Setting digit Explanation Init[...]

5. PARAMETERS 5 - 25 No. Symbol Name and function Initial value [Unit] Setting range PB32 VICB Speed integral compensation after gain switching Set the speed integral compensation fo r when the gain switching is enabled. When you set a value smaller than 0.1 ms, the value will be the same as the value set in [Pr. PB10]. This parameter is enabled on[...]

5. PARAMETERS 5 - 26 No. Symbol Name and function Initial value [Unit] Setting range PB45 CNHF Command notch filter Set the command notch filter. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ x x Command notch filter setting frequency selection Refer to table 5.5 for the relation of setting values to[...]

5. PARAMETERS 5 - 27 No. Symbol Name and function Initial value [unit] Setting range PB46 NH3 Machine resonance suppression filter 3 Set the notch frequency of the machine resonance suppression filter 3. To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection" in [Pr. PB47]. 4[...]

5. PARAMETERS 5 - 28 No. Symbol Name and function Initial value [unit] Setting range PB51 NHQ5 Notch shape selection 5 Set forms of the machine resonance suppression filter 5. When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine resonance suppression filter 5 cannot be used. Refer to the &q[...]

5. PARAMETERS 5 - 29 No. Symbol Name and function Initial value [unit] Setting range PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching Set the vibration frequency for the vibration s uppression control 2 for when the gain switching is enabled. To enable this setting, select "3 inertia m ode (_ _ _ 1)" [...]

5. PARAMETERS 5 - 30 5.2.3 Extension setting parameters ([Pr. PC_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PC01 ERZ Error excessive alarm level Set an error excessive alarm level. Set the level in rev unit. Setting "0" will apply 3 rev. Setting over 200 rev will be clamped w ith 200 rev. 0 [rev] (Note) 0 to 100[...]

5. PARAMETERS 5 - 31 No. Symbol Name and function Initial value [unit] Setting range PC07 ZSP Zero speed Set an output range of ZSP (Zero speed detection). ZSP (Zero speed detection) has hysteresis of 20 r/min. 50 [r/min] 0 to 10000 PC08 OSL Overspeed alarm detection level Set an overspeed alarm detection level. When you set a value exceeding "[...]

5. PARAMETERS 5 - 32 No. Symbol Name and function Initial value [unit] Setting range PC24 RSBR Forced stop deceleration time constant Set a deceleration time constant for the forced stop deceleration function. Set the time taken from the rated speed to 0 r/min in ms unit. Forced stop deceleration [Pr. PC24] 0 r/min Servo motor speed Rated speed Dyn[...]

5. PARAMETERS 5 - 33 No. Symbol Name and function Initial value [unit] Setting range PC38 ERW Error excessive warning level Set an error excessive warning level. To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive warning] selection" in [Pr. PC05]. You can change the setting unit with "Error exce[...]

5. PARAMETERS 5 - 34 No. Symbol Name and function Initial value [unit] Setting range PD11 *DIF Input filter setting Select the input filter. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Input signal filter selection Refer to the servo system controller instruction manual for the setting. If an e[...]

5. PARAMETERS 5 - 35 No. Symbol Name and function Initial value [unit] Setting range PD14 *DOP3 Function selection D-3 Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x For manufacturer setting 0h _ _ x _ Selection of output device at warning occurrence Select the WNG (Warning) and ALM (Malfunction) [...]

5. PARAMETERS 5 - 36 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PE41 EOP3 Function selection E-3 Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Robust filter selection 0: Disabled 1: Enabled When you select "Enabled"[...]

5. PARAMETERS 5 - 37 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PF06 *FOP5 Function selection F-5 Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Electronic dynamic brake selection 0: Disabled 3: Automatic (enabled only fo r s[...]

5. PARAMETERS 5 - 38 No. Symbol Name and function Initial value [unit] Setting range PF25 CVAT Instantaneous power failure tough drive - Detection time Set the time until the occurrence of [AL. 10.1 Voltage drop in the power]. To disable the parameter, select "Disabled (_ 0 _ _)" of "instantaneous power failure tough drive selection&[...]

6. NORMAL GAIN ADJUSTMENT 6 - 1 6. NORMAL GAIN ADJUSTMENT POINT In the torque control mode, you do not need to make gain adjustment. Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly. In addition, ma[...]

6. NORMAL GAIN ADJUSTMENT 6 - 2 (2) Adjustment sequence and mode usage 2 gain adjustment mode 1 (interpolation mode) Interpolation made for 2 or more axes? The l oad fluc tuati on is large during driving? Start End Yes No Yes No Yes No No Yes One-touch tuning Yes Yes Yes Error handling is possible? Handle the error Adjustment OK? Finished normally?[...]

6. NORMAL GAIN ADJUSTMENT 6 - 3 6.2 One-touch tuning POINT When executing the one-touch tuning, c heck the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value). After connecting MR Configurator2 and opening the one-touch tuning window, you can use the function. The following parameters are set automat ically with on[...]

6. NORMAL GAIN ADJUSTMENT 6 - 4 6.2.1 One-touch tuning flowchart Make one-touch tuning as follows. Start Startup of the system Operation One-touch tuning start Response mode selection One-touch tuning execution End Start a system referring to chapter 4. Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed[...]

6. NORMAL GAIN ADJUSTMENT 6 - 5 6.2.2 Display transition and operat ion procedure of one-touch tuning (1) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for a high rigid system. Basic mode This mode is for a standard system. Low mode Th[...]

6. NORMAL GAIN ADJUSTMENT 6 - 6 (2) One-touch tuning execution POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing t he value of [Pr. PA25 One-touch tuning - Overshoot permissible level] will shor ten the settling time and improve the response. After the response mode is sele[...]

6. NORMAL GAIN ADJUSTMENT 6 - 7 (3) Stop of one-touch tuning During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" w ill be displayed at status in an error code. (4) If an error occurs If a tuning error occurs during one-touch tuning, the tuning will be forcibly terminated. [...]

6. NORMAL GAIN ADJUSTMENT 6 - 8 (7) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 6.1 for the parameters which you can clear. Pushing "Return to before tuning" in the one-touch tuning window of MR Configurator2 can restore the parameter setting value before the start button is pushe[...]

6. NORMAL GAIN ADJUSTMENT 6 - 9 6.3 Auto tuning 6.3.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates t he machine characteristic (load to motor inertia ratio) in real time and automatically se ts the optimum gains according to that value. This function permits ease of gain adjus tment of the servo amplifie[...]

6. NORMAL GAIN ADJUSTMENT 6 - 10 6.3.2 Auto tuning mode basis The block diagram of real-time auto tuning is shown below. Loop gain PG1 , PG 2, VG2, VIC Current control Load to motor inertia ratio estimation section Gain table [Pr. PB06 Load to motor inertia ratio] Response level setting Gain adjustment mode selection [Pr. PA08] + - + - Real-time au[...]

6. NORMAL GAIN ADJUSTMENT 6 - 11 6.3.3 Adjustment procedure by auto tuning Since auto tuning is enabled before shipment from the fa ctory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as f[...]

6. NORMAL GAIN ADJUSTMENT 6 - 12 6.3.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. PA09]. As the res ponse level setting is increased, the track ability and settling time for a command decreases, but too high a response level will generate vibration. Hence, make setting until desired response is obt[...]

6. NORMAL GAIN ADJUSTMENT 6 - 13 6.4 Manual mode If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuni ng mode selection in [Pr. PB01] or machine resonance suppression filter in [P r. PB13] to [Pr. PB16] and [Pr. PB46] to [Pr. PB51] ma[...]

6. NORMAL GAIN ADJUSTMENT 6 - 14 (c) Parameter adjustment 1) [Pr. PB09 Speed loop gain] This parameter determines the response level of the speed control loop. Increasing the setting increases the response level, but the mechanical sy stem is liable to vibrate. The actual response frequency of the speed loop is as indicated in the following express[...]

6. NORMAL GAIN ADJUSTMENT 6 - 15 (b) Adjustment procedure Step Operation Description 1 Adjust gains briefly with auto tuning. Refer to section 6.3.3. 2 Change the setting of auto tuning to the manual mode ([Pr. PA08]: _ _ _ 3). 3 Set an estimated value to the load to motor inertia ratio. (If the estimate value with auto tuning is correct, setting c[...]

6. NORMAL GAIN ADJUSTMENT 6 - 16 3) [Pr. PB08 Position loop gain] This parameter determines the response level to a disturbance to the position control loop. Increasing the position loop gain increases t he response level to a disturbance, but the mechanical system is liable to vibrate. Position loop gain guideline ≤ (1 + Load to motor inertia ra[...]

6. NORMAL GAIN ADJUSTMENT 6 - 17 (2) 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adj ustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not es timated in this mode, set the value of a proper load to motor inertia ratio in [Pr. PB06]. The following parameters are used for 2 gain [...]

6. NORMAL GAIN ADJUSTMENT 6 - 18 (4) Parameter adjustment [Pr. PB07 Model loop gain] This parameter determines the response level of the position control loop. Increasing the value improves track ability to a position command, but too high a val ue will make overshoot liable to occur at settling. The droop pulse value is determined by the following[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used normally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6. 7.1 Filter setting The following filters are available with MR-JE servo amplifiers. Command pulse tr[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 2 (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppre ss the resonance of the mechanica l system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth, and width. Response of mechanical[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 3 (2) Parameter (a) Machine resonance suppression filt er 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth, and notch widt h of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]). When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection"[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 4 7.1.2 Adaptive filter II POINT The machine resonance frequency which adapt ive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually. When adaptive tuning is executed, vibrat ion sound increases as an excitation signal is forcibly a[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 5 (2) Parameter Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)]. [Pr. PB01] Filter tuning mode selection 000 0 1 2 Setting value Filter tuning mode selection Disabled Automatic setting Manual setting PB13/PB14 Automatically set parameter (3) Adaptive tuning mode procedu[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 6 7.1.3 Shaft resonance suppression filter POINT This filter is set properly by default according to the servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression filter selection" in [Pr. PB23] or [...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 7 7.1.4 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as the initial value. The filter frequency of the low-pass f ilter is autom[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 8 (1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjus ted for positioning so that the machine does not vibrate. Vibration suppression: off (normal) Servo motor side Load side t Position Vibr[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 9 (3) Vibration suppression control tuning procedure The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PB02] to execut e the vibration suppression control tuning. No Vibration suppression control tuning Operation Is the ta[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 10 (4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibrat ion frequency does not provide an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 11 (a) When a vibration peak can be confirmed with t he machine analyzer using MR Configurator2, or external measuring instrument. 1 Hz Gain characteristics Phase -90 degrees 300 Hz Vibr ation su ppr essi on contr ol 1 - Vib rat ion fr equenc y (anti-resonance frequency) [Pr. PB19] Vibr ation s uppr ess ion c ont[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 12 (1) Function Command notch filter has a function that lowers the gain of the specified frequency contained in a position command. By lowering the gain, load-side vi bration, such as work-side vibration and base shake, can be suppressed. Whic h frequency to lower the gain and how deep to lower the gain can be s[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 13 7.2 Gain switching function You can switch gains with the function. You can switch gains during rotation and during stop, and can use a control command from a controller to switch gains during operation. 7.2.1 Applications The following shows when you use the function. (1) You want to increase the gains during[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 14 7.2.2 Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Ga in switching function] and [Pr. PB27 Gain switching condition]. Command pulse frequency + - Droop pulses Model speed Control c[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 15 7.2.3 Parameter When using the gain switching function, always sele ct "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gai n switching function cannot be used in the auto tuning mode. (1) Parameters for setting gain switching condition Paramet[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 16 (2) Switchable gain parameter Loop gain Before switching After switching Parameter Symbol Name Parameter Symbol Name Load to motor inertia ratio PB06 GD2 Load to motor inertia ratio PB29 GD2B Load to motor inertia ratio after gain switching Model loop gain PB07 PG1 Model loop gain PB60 PG1B Model loop gain aft[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 17 (a) [Pr. PB06] to [Pr. PB10] These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio, position loop gain, speed loop gain, and speed integral compensation to be switched. (b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55] These paramete[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 18 7.2.4 Gain switching procedure This operation will be described by way of setting examples. (1) When you choose switching by a control command from the controller (a) Setting example Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio 4.00 [Multiplier] PB07 PG1 Model loop gain 100 [ra[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 19 (b) Switching timing chart After-switching gain 63.4% CDT = 100 ms Before-switching gain Gain switching Control command from controller OFF ON OFF Model loop gain 100 → 50 → 100 Load to motor inertia ratio 4.00 → 10.00 → 4.00 Position loop gain 120 → 84 → 120 Speed loop gain 3000 → 4000 → 3000 [...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 20 (b) Switching timing chart After-switching gain 63.4% CDT = 100 ms Before-switching gain Gain switching Droop pulses [pulse] +CDL -CDL 0 Command pulses Droop pulses Command pulses Load to motor inertia ratio 4.00 → 10.00 → 4.00 → 10.00 Position loop gain 120 → 84 → 120 → 84 Speed loop gain 3000 →[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 21 (b) Gain return time constant disabled was selected. The gain switching time constant is enabled with this setting. The time constant is disabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28 (CDT)] = 100 [ms]. ON CDP (Gain switching) After-switchi[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 22 7.3 Tough drive function POINT Enable or disable the tough drive functi on with [Pr. PA20 Tough drive setting]. (Refer to section 5.2.1.) This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive function includes two types: the vibrati on tough drive a[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 23 The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and co mpares it with [Pr. PB13] and [Pr. PB15], and resets a machine resonance frequency of a parameter whose set value is closer. Filter Setting parameter Precaution Paramete[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 24 7.3.2 Instantaneous power failure tough drive function The instantaneous power failure tough drive func tion avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the tolerance agai n[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 25 (2) Instantaneous power failure time < [Pr. PF25 Instantaneous power failure tough drive - Detection time] Operation status differs dependi ng on how bus voltage decreases. (a) When the bus voltage decreases to 200 V DC or lo wer within the instantaneous power failure time [AL. 10 Undervoltage] occurs when [...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 26 7.4 Model adaptive control disabled POINT Change the parameters while the servo motor stops. When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operat ion status of the servo motor. (1) Summary The servo amplifier has a model adaptive control. The se[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 27 7.5 Lost motion compensation function POINT The lost motion compensation function is enabled only in the position control mode. The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel dire cti[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 28 (d) Lost motion compensation timing ([Pr. PE49]) You can set the delay time of the lost motion co mpensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing. (e) Lost motion compensation non-sensitiv[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 29 (d) Adjusting the lost motion compensation When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the pr otrusions are eliminated. When not ches occur, the compensation is excessive. Decrease the lost motion compensat ion by approximate[...]

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 30 MEMO[...]

8. TROUBLESHOOTING 8 - 1 8. TROUBLESHOOTING POINT Refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. As soon as an alarm occurs, make the Se rvo-off status and interrupt the power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in th[...]

8. TROUBLESHOOTING 8 - 2 8.2 Alarm list No. Name Detail number Detail name Stop method (Note 2, 3) Alarm deactivation Alarm reset CPU reset Power cycling Alarm 10 Undervoltage 10.1 Voltage drop in the power EDB 10.2 Bus voltage drop SD 12.1 RAM error 1 DB 12.2 RAM error 2 DB 12 Memory error 1 (RAM) 12.3 RAM error 3 DB 12.4 RAM error 4 DB 12.5 RAM e[...]

8. TROUBLESHOOTING 8 - 3 No. Name Detail number Detail name Stop method (Note 2, 3) Alarm deactivation Alarm reset CPU reset Power cycling Alarm 20.1 Encoder normal communication - Receive data error 1 EDB 20.2 Encoder normal communication - Receive data error 2 EDB 20.3 Encoder normal communication - Receive data error 3 EDB 20 Encoder normal comm[...]

8. TROUBLESHOOTING 8 - 4 No. Name Detail number Detail name Stop method (Note 2, 3) Alarm deactivation Alarm reset CPU reset Power cycling Alarm 46.1 Abnormal temperature of servo motor 1 SD (Note 1) (Note 1) (Note 1) 46 Servo motor overheat 46.5 Abnormal temperature of servo motor 3 DB (Note 1) (Note 1) (Note 1) 46.6 Abnormal temperature of servo [...]

8. TROUBLESHOOTING 8 - 5 8.3 Warning list No. Name Detail number Detail name Stop method (Note 2, 3) Warning 91 Servo amplifier overheat warning (Note 1) 91.1 Main circuit device overheat warning 92 Battery cable disconnection warning 92.1 Encoder battery cable disconnection warning 92.3 Battery degradation 96 Home position setting warning 96.1 In-[...]

8. TROUBLESHOOTING 8 - 6 Note 1. Leave the servo amplifier for about 30 minut es of cooling time after removing the cause of occurrence. 2. The following shows two stop methods of DB and SD. DB: Dynamic brake stop (A servo motor without the dynamic brake coasts.) SD: Forced stop deceleration 3. This is applicable when [Pr. PA04] is set to the initi[...]

9. DIMENSIONS 9 - 1 9. DIMENSIONS 9.1 Servo amplifier (1) MR-JE-10B to MR-JE-40B [Unit: mm] 135 50 168 6 6 156 6 6 φ 6 mounting hole 6 PE CNP1 With MR-BAT6V1SET- A Approx. 80 The built-in regenerative resistor (lead wire) is mounted only in MR-JE-40B. 2.9 Mass: 0.8 [kg] L2 L3 P+ C U V W L1 PE Terminal CNP1 Screw size: M4 Tightening torque: 1.2 [N?[...]

9. DIMENSIONS 9 - 2 (2) MR-JE-70B and MR-JE-100B [Unit: mm] 70 3.3 168 42 22 22 156 6 6 φ 6 mounting hole 6 PE CNP1 With MR-BAT6V1SET-A 185 Approx. 80 Mass: 1.5 [kg] L2 L3 P+ C U V W L1 PE Terminal CNP1 Screw size: M4 Tightening torque: 1.2 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [N•m] Approx. 6 Approx. 6 Approx. 168 156 ±[...]

9. DIMENSIONS 9 - 3 (3) MR-JE-200B and MR-JE-300B [Unit: mm] 6 6 6 78 168 6 156 45 90 85 161 φ 6 mounting hole Approx. 80 195 Cooling fan air intake Exhaust 6 With MR-BAT6V1SET-A CNP1 CNP2 Lock knob Mass: 2.1 [kg] L2 L3 N- C D P+ U V W L1 CNP2 Terminal CNP1 Screw size: M4 Tightening torque: 1.2 [N•m] PE Mounting screw Screw size: M5 Tightening t[...]

9. DIMENSIONS 9 - 4 9.2 Connector (1) CN1A/CN1B connector [Unit: mm] F0-PF2D103 20.9 ± 0.2 17.6 ± 0.2 8 2.3 1.7 4.8 13.4 15 6.7 9.3 F0-CF2D103-S 8 2.3 1.7 4.8 13.4 15 6.7 9.3 20.9 ± 0.2 17.6 ± 0.2 (2) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 34.8 39.5 22.4 11.0[...]

10. CHARACTERISTICS 10 - 1 10. CHARACTERISTICS 10.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads. [AL. 50 Overload 1] occurs if ov erload operation performed is above the electronic thermal protection curve shown in fi[...]

10. CHARACTERISTICS 10 - 2 1000 100 10 1 0.1 100 200 300 0 50 150 250 320 Servo-lock Operating (Note) Load ratio [%] Operation time [s] HG-SN152_/HG-SN202_/ HG-SN302_ Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a 30 r/min [...]

10. CHARACTERISTICS 10 - 3 10.2 Power supply capacity and generated loss (1) Servo amplifier generated heat Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the va lues in the table in consideration for the worst operating conditions. The a[...]

10. CHARACTERISTICS 10 - 4 (2) Heat dissipation area for an enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet ) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 ˚ C at the ambient temperature of 40 ˚ C. (With an approximately 5 ˚ C safety margin, the system sh[...]

10. CHARACTERISTICS 10 - 5 10.3 Dynamic brake characteristics POINT Do not use dynamic brake for stop in a nor mal operation as it is the function for stop in emergency. For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates[...]

10. CHARACTERISTICS 10 - 6 (2) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 10.2. 0 20 25 15 10 5 30 35 40 0 1000 2000 3000 4000 5000 73 13 43 23 Dynamic brake time constant [ms] Speed [r/min] 0 40 120 100 80 60 20 140 160 180 200 0 500 1000 1500 2000 2500 3000 102 52 202 302 152 Speed [r/min[...]

10. CHARACTERISTICS 10 - 7 10.4 Cable bending life The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. a: Long bending life encoder cable Long bending life motor power cable Long bending life electromagnetic brake cable SSCNET III cable using[...]

10. CHARACTERISTICS 10 - 8 MEMO[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 1 11. OPTIONS AND PERIPHERAL EQUIPMENT WARNING Before connecting options and peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 2 11.1.1 Combinations of cable/connector sets Refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual" for options for servo motor power supply, electromagnetic brake, and encoder. Personal computer 5) 1) Packed with the servo amplifier To 24 V DC power supply for electromagnetic brake Servo motor [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 3 No. Product name Model Description Application 1) Servo amplifier CNP1 power connector MR-JECNP1-01 Connector fo r CNP1: 09JFAT-SAXGDK- H5.0 (JST) Applicable wire size: AWG 18 to 14 Insulator OD: to 3.9 mm Supplied with servo amplifiers of 1 kW or less Open tool: J-FAT-OT (JST) MR-JECNP1-02 Connector for [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 4 No. Product name Model Description Application 8) Battery cable MR-BT6V1CBL_M Cable length: 0.3 m or 1 m (Refer to section 11.1.3.) Housing: PAP-02V-0 Contact: SPHD-001G0-P0.5 (JST) Connector: 10114-3000PE Shell kit: 10314-52F0-008 (3M or equivalent) For connection with battery unit 9) Junction battery ca[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 5 11.1.2 SSCNET III cable POINT Do not look directly at the light generated from the CN1A connector and CN1B connector of servo amplifier or the end of SSCNET III cable. The light can be a discomfort when it enters the eye. Refer to appendix 6 for a long distance cable over 50 m and ultra-long bending life [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 6 (3) Dimensions (a) MR-J3BUS015M [Unit: mm] 150 Approx. 6.7 8 +0 +50 - 0 Protective tube Approx. 15 Approx. 13.4 Approx. 20.9 Appro x. 2.3 Appro x. 1.7 Approx. 37.65 (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) of this section for cable length (L). [Unit: mm] L (Note) Protective tube Appro[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 7 11.1.3 Battery cable and junction battery cable (1) Model explanations The numbers in the cable length field of the table indi cate the symbol filling the underline "_" in the cable model. The cables of the lengths with the numbers are available. Cable model Cable length Bending life Application[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 8 11.2 Regenerative option CAUTION Do not use servo amplifiers with regenerat ive options other than the combinations specified below. Otherwise, it may cause a fire. 11.2.1 Combination and regenerative power The power values in the table are resi stor-generated powers and not rated powers. Servo amplifier [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 9 11.2.2 Selection of regenerative option Use the following method when regeneration occurs continuous ly in vertical motion app lications or when it is desired to make an in-depth select ion of the regenerative option. (1) Regenerative energy calculation M Friction torque Unbalance torque T F T U Servo mot[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 10 (2) Losses of servo motor and serv o amplifier in regenerative mode The following table lists the efficiencies and other dat a of the servo motor and servo amplifier in the regenerative mode. Servo amplifier Inverse efficiency [%] Capacitor charging [J] Servo amplifier Inverse efficiency [%] Capacitor ch[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 11 11.2.4 Connection of regenerative option POINT When you use a regenerative option wi th an MR-JE-40B to MR-JE-100B, remove the built-in regenerative resistor and wiring from the servo amplifier. When MR-RB50 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 12 (1) MR-JE-100B or less When you use a regenerative option for MR-JE-40B to MR-JE-100B, remove wirings of P+ and C, remove the built-in regenerative resistor, and t hen connect the regenerative option between P+ and C. G3 and G4 are terminals for the thermal sensor. Between G3 and G4 is opened when the re[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 13 To remove the built-in regenerative resistor mounted on the back of MR-JE-40B to MR-JE-100B, refer to the following illustration and follow the procedures 1) to 3). 1) Disconnect the wirings of the built-in regenerative resistor from the power connector (CNP1). (Refer to section 3.3.3 (2) (b).) 2) Remove[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 14 (2) MR-JE-200B or more Always remove the wiring from across P+ to D and mount the regenerative option across P+ to C. G3 and G4 are terminals for the thermal sensor . Between G3 and G4 is opened when the regenerative option overheats abnormally. D P+ C G4 G3 C P Regenerative option 5 m or less Servo ampl[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 15 11.2.5 Dimensions (1) MR-RB12 [Unit: mm] 5 144 Approx. 20 169 168 156 6 12 6 36 40 φ 6 mounting hole T E1 15 Approx. 6 149 2 TE1 terminal block G3 G4 P C Applicable wire size: 0.2 mm 2 to 2.5 mm 2 (AWG 24 to 12) Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.24 [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 16 (3) MR-RB50 [Unit: mm] 2.3 133 82.5 49 82.5 Cooling fan mounting screw (2-M3 screw) On opposite side 200 17 217 8 120 108 12 12.5 162.5 350 162.5 12.5 7 Approx. 30 7 × 14 slotted hole Air intake Terminal block P C G3 G4 Terminal screw size: M4 Tightening torque: 1.2 [N•m] Mounting screw Screw size: M6[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 17 11.3 Junction terminal block PS7DW-20V14B-F (recommended) (1) Usage Always use the junction terminal block (PS7DW-20V 14B-F (Yoshida Electric Industry)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below. Junction terminal block PS7DW-20V14B-F CN3 MR-J2HBUS_M Servo amplifie[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 18 (3) Dimensions of junction terminal block [Unit: mm] M3 × 6L M3 × 5L 36.5 27.8 18.8 7.62 44.11 54 63 φ 4.5 4.5 5 4 60 50 9.3 27 TB.E ( φ 6) 1.42 6.2 11.4 MR Configurator2 MR Configurator2 (SW1DNC-MRC2-E) us es the communication function of the servo amplifier to perform parameter setting changes, gra[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 19 11.4.2 System requirements (1) Component To use MR Configurator2 (SW1DNC-MRC2-E), the following components are required in addition to the servo amplifier and servo motor. Equipment Description (Note 1, 2, 3, 4, and 5) Personal computer OS Microsoft ® Windows ® 8.1 Enterprise Operating System Microsoft[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 20 (2) Connection with servo amplifier To USB connector Servo amplifier USB cable MR-J3USBCBL3M (Option) Personal computer 11.4.3 Precautions for using USB communication function Note the following to prevent an electric s hock and malfunction of the servo amplifier. (1) Power connection of personal compute[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 21 11.5 Battery POINT Refer to appendix 2 and 3 for battery transportation and the new EU Battery Directive. The battery is used to construct an absolute position detection system. For construction of an absolute position detection system, refer to chapter 12. 11.5.1 Selection of battery Applicable batterie[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 22 11.5.2 MR-BAT6V1SET-A battery POINT For the specifications and the year and m onth of manufacture of the built-in MR- BAT6V1 battery, refer to section 11.5.4. (1) Parts identification and dimensions [Unit: mm] 27.4 Case Connector for servo amplifier 51 37.5 Mass: 55 [g] (including MR-BAT6V1 battery) (2) [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 23 (3) Battery replacement procedure WARNING Before replacing a battery, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an el ectric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the se[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 24 (b) Removal procedure CAUTION Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery. Pull the lock release lever to push up the battery. While pres sing the lock release lever, pull out the conne[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 25 (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET-A reaches the end of its lif e, replace the MR-BAT6V1 battery in the MR- BAT6V1SET-A. Tab Cover Hold the tab and open the cover. Replace the battery with a new MR-BAT6V1 battery. Projection (4 places) Press the cover until it is fixe[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 26 11.5.3 MR-BT6VCASE battery case POINT The battery unit consists of an MR -BT6VCASE battery case and five MR- BAT6V1 batteries. For the specifications and the year and month of manufacture of the MR- BAT6V1 battery, refer to section 11.5.4. MR-BT6VCASE is a case used for connecting and mounti ng five MR-B[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 27 (3) Battery connection POINT One battery unit can be connected to up to 8-axis servo motors. Servo motors in an incremental system are in cluded as the axis numbers. (a) When using 1-axis servo amplifier MR-BT6V1CBL_M CN10 CN4 MR-BT6VCASE Servo amplifier (b) When using up to 8-axis servo amplifiers MR-BT[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 28 (4) Battery replacement procedure WARNING Before replacing a battery, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an el ectric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the se[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 29 (a) Assembly of the battery unit CAUTION Do not mount new and old batteries together. When you change a battery, change all batteries at the same time. POINT Always mount five MR-BAT6V1 batteries to the MR-BT6VCASE battery case. 1) Things to be prepared Product name Model Quantity Remarks Battery case MR[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 30 b) Mounting MR-BAT6V1 BAT1 Securely mount an MR-BAT6V1 to the BAT1 holder. CON1 Click Insert the MR-BAT6V1 connector mounted on the BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction. If the connector is pushed forcefully in the incorrect [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 31 c) Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m. POINT When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts. Threads d) Preca[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 32 11.5.4 MR-BAT6V1 battery The MR-BAT6V1 battery is used for a backup of t he MR-BAT6V1SET-A and MR-BAT6V1SET and built in the MR-BT6VCASE. Always store the MR -BAT6V1 in a case when using it. The year and month of manufacture of the MR-BAT6V 1 battery are described on the rating plate put on an MR-BAT6V1 [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 33 11.6 Selection example of wires POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard. The following shows selection conditions of wire size. Construction condition: Single wire set in [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 34 11.7 Molded-case circuit breakers, fuses, magnetic contactors CAUTION Select a molded-case circuit breaker with a fast shut-off time to prevent smoke or a fire. Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the molded-case cir[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 35 11.8 Power factor improving AC reactor The following shows the advantages of using a power factor improving AC reactor. It improves the power factor by increasing the form factor of the servo amplifier's input current. It decreases the power supply capacity. The input power factor is improved to abo[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 36 (2) Dimensions 4-d mounting hole (Varnish i s removed from front right mounting hole (face and back side).) (Note 1) Terminal layout RX Z SYT Max. W (Not e 2) W1 D1 D2 H D or less Fig. 11.1 Servo amplifier Power factor improving AC reactor Dimensions Dimensions [mm] Terminal size Mass [kg] W W1 H D (Note[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 37 11.10 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral equi pment to malfunction. Since the servo amplifier is an electronic device which handles small signals, th[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 38 Instrument Receiver Ser vo amplifier Servo motor M 2) 2) 8) 1) 7) 7) 7) 5) 3) 4) 6) 3) Sensor power supply Sensor Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, s ensors, etc. which handle weak signals and may malfunction due to noise and/or their signal c[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 39 (2) Noise reduction products (a) Data line filter (recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, ZCAT3035-1330 by TDK, ESD-SR- 250 by NEC TOKIN, GRFC-13 by Kitagawa Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line f[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 40 (c) Cable clamp fitting AERSBAN-_SET Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to a grounding plate as shown below. Install the grounding plate near the servo amplifier for[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 41 (d) Line noise filter (FR-BSF01) This filter is effective in suppressing noises r adiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band. Connection[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 42 (e) Radio noise filter (FR-BIF) This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radi o frequency bands. The FR-BIF is designed for the input only. 200 V class: FR-BIF Connection diagram Dim ensions [Unit: mm] Make th[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 43 11.11 Earth-leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse widt h modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select an earth-leaka[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 44 Table 11.2 Servo motor leakage current example (lgm) Servo motor power [kW] Leakage current [mA] 0.1 to 1 0.1 1.5 to 2 0.2 3 0.3 Table 11.3 Servo amplifier l eakage current example (Iga) Servo amplifier capacity [kW] Leakage current [mA] 0.1 to 0.4 0.1 0.75 to 3 0.15 Table 11.4 Earth-leakage current brea[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 45 11.12 EMC filter (recommended) It is recommended that one of the following filters be us ed to comply with EN EMC directive. Some EMC filters have large in leakage current. When using an EMC filter, always use one for each servo amplifier. (1) Combination with the servo amplifier Servo amplifier Recommen[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 46 (c) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-200B MCCB Servo amplifie r 1 2 3 (Note 2) Surge protector (RSPD-250-U4) (OKAY A Electric Industries Co., Ltd.) (Note 1) 1-phase 200 V AC to 240 V AC 123 MC EMC filter L1 L2 L3 4 5 6 E Note 1. Connect the power supply to L1 and L3. Leave L2 open. [...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 47 (b) Surge protector RSPD-250-U4 41 ± 1 28.5 ± 1 28 ± 1 φ 4.2 ± 0.5 5.5 ± 1 11 ± 1 +30 0 200 4.5 ± 0.5 13 2 Lead Case Resin [Unit: mm] 12 3[...]

11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 48 MEMO[...]

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 1 12. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation. If [AL. 25], [AL. 92], or [AL. 9F] occurs due to a failure, such as[...]

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 2 12.1.2 Configuration The following shows a configuration of the absolute pos ition detection system. Refe r to section 11.5 for the connection of the battery. Servo system controller Servo amplifier CN1A Servo motor CN2 Battery CN4 12.1.3 Parameter setting Set "_ _ _ 1" in [Pr. PA03] to enabl [...]

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 3 12.2 Battery 12.2.1 Using the MR-BAT6V1SET-A battery (1) Configuration diagram CYC0 Current position Home position data LS0 Position data LS Detecting the number of revolutions CYC Detecting the position at one revolution Servo motor Cumulative revolution counter (1 pulse/rev) One-revolution counter Hig[...]

12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 4 12.2.2 Using the MR-BT6VCASE battery case POINT One MR-BT6VCASE can hold the absolute pos ition data of up to 8-axis servo motors. Always install five MR-BAT6V 1 batteries to MR-BT6VCASE. (1) Configuration diagram CYC0 Current position Home position data LS0 Position data LS Detecting the number of revo[...]

APPENDIX App. - 1 App. 1 Peripheral equipment manufacturer (for reference) Names given in the table are as of November 2014. Manufacturer Contact information NEC TOKIN NEC TOKIN Corporation Kitagawa Industries Kitagawa Industries Co., Ltd. JST J.S.T. Mfg. Co., Ltd. Junkosha Toa Electric Industr ial Co. Ltd., Nagoya Branch 3M 3M SEIWA ELECTRIC Seiwa[...]

APPENDIX App. - 2 (3) Change in regulations The following points are changed for lithium metal batteries transportation by sea or air due to Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition. For lithium metal batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are classified as U[...]

APPENDIX App. - 3 App. 3 Symbol for the new EU Battery Directive Symbol for the new EU Battery Directive (2006/66/EC) t hat is plastered to general -purpose AC servo battery is explained here. Note. This symbol mark is for EU countries only. This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II.[...]

APPENDIX App. - 4 App. 4.1.3 Correct use Always use the MR-JE servo amplifiers within specifications (voltage, tem perature, etc. Refer to section 1.3 for details.). Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and instal[...]

APPENDIX App. - 5 (b) Selection example of MCCB and fuse Use T class fuses or molded-case circuit breaker (UL489 Listed MCCB) as the following table. The T class fuses and molded-case circuit breakers in t he table are selected examples based on rated I/O of the servo amplifiers. When you select a smaller capacity servo motor to connect it to the s[...]

APPENDIX App. - 6 (2) EU compliance The MR-JE servo amplifiers are designed to comply wi th the following directions to meet requirements for mounting, using, and periodic technical inspections: EMC directive ( 2004/108/EC), and Low-voltage directive (2006/95/EC). (a) EMC requirement MR-JE servo amplifiers comply with category C3 in accordance with[...]

APPENDIX App. - 7 (d) Over-temperature protection for motor Motor Over temperature sensing is not provided by the drive. Integral thermal protection(s) is necessary for motor and refer to appendix. 4.3 for the proper connection. (e) Branch circuit protection For installation in United States, branch circuit protection must be provided, in accordanc[...]

APPENDIX App. - 8 App. 4.2 Mounting/dismounting Installation direction and clearances CAUTION The devices must be installed in the spec ified direction. Not doing so may cause a malfunction. Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2. 10 mm or more 80 mm or longer for wir[...]

APPENDIX App. - 9 App. 4.3 Electrical Installation and configuration diagram WARNING Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or damages to the product before starting the installation or wiring. CAUTION Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. T[...]

APPENDIX App. - 10 App. 4.4 Signals App. 4.4.1 Signal The following shows CN1 connector signals of MR-JE-10A as a typical example. 1 3 5 7 9 11 13 15 17 19 21 23 25 2 4 6 8 10 12 14 16 18 20 22 24 TLA MO1 MO2 27 29 31 33 35 37 39 41 43 45 47 49 26 28 30 32 34 36 38 40 42 44 46 48 50 LG LA LG LAR LB LG LBR LZ OP LZR LG EM2 DICOM DICOM DOCOM DOCOM AL[...]

APPENDIX App. - 11 App. 4.4.2 I/O device The following shows typical I/O devices of MR-JE-_A. For the other devic es, refer to each servo amplifier instruction manual. Input device Symbol Device Connector Pin No. SON Servo-on CN1 15 RES Reset 19 CR Clear 41 EM2 Forced stop 2 42 LSP Forward rotation stroke end 43 LSN Reverse rotation stroke end 44 O[...]

APPENDIX App. - 12 App. 4.5 Maintenance and service WARNING To avoid an electric shock, only qualif ied personnel should attempt inspections. For repair and parts replacement, c ontact your local sales office. App. 4.5.1 Inspection items It is recommended that the following points periodically be checked. (1) Check for loose screws on the protectiv[...]

APPENDIX App. - 13 App. 4.6 Transportation and storage CAUTION Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. For detailed information on the battery’s transportation and handing refer to app. 2 and app. 3. Install the product in a load-bearing place of servo [...]

APPENDIX App. - 14 App. 4.7.3 Mounting hole d a c b c a1 e Servo amplifier Variable dimensions [mm] Screw size e a a1 b c d MR-JE-10_/MR-JE-20_/MR-JE-40_ 6 6 156 ± 0.5 6 M5 MR-JE-70_/MR-JE-100_ 22 22 156 ± 0.5 6 42 ± 0.3 M5 MR-JE-200_/MR-JE-300_ 6 45 156 ± 0.5 6 78 ± 0.3 M5[...]

APPENDIX App. - 15 App. 5 SSCNET III cable (SC-J3BUS_M-C) manufac tured by Mitsubishi Electric System & Service POINT For the details of the SSCNET III cables, contact your local s ales office. Do not look directly at the light generated from the CN1A connector and CN1B connector of servo amplifier or the end of SSCNET III cable. The light can [...]

APPENDIX App. - 16 App. 6 Low-voltage directive MR-JE series servo amplifiers are certificated in co mpliance with Low-voltage directive. The following shows a certificate by the Certification Body. Refer to section 1.6 (2) for the m odels shown in "(see Appendix 1.1)".[...]

APPENDIX App. - 17 App. 7 When turning on or off the i nput power supply with DC power supply App. 7.1 Connection example For the signals or wiring that are not described in this section, refer to section 3.1. MC (Note 7) 24 V DC (Note 2, 4) 24 V DC (Note 5) (Note 1) 3-phase 200 V AC to 240 V AC CN3 Forced stop 2 (Note 3) EM2 DICOM (Note 6) Power s[...]

APPENDIX App. - 18 App. 8 When using the hot line forced stop function in combination with MR-J4-_B servo amplifier At factory setting, MR-J4-_B servo amplifiers do not decelerate to a stop by the hot line forced stop function if an alarm occurs in an MR-JE-_B servo amplifier. To decelerate MR-J4-_B servo amplifiers to a stop by the hot line forc e[...]

REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Nov. 2014 SH(NA)030152-A First edition This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems in[...]

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corpor ation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in th e United States, Japan, and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Cor p[...]

Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "P roduct" arisen during warranty period at no charge due to causes for which w e are responsible through the distributor from which you purchased the Product or ou[...]

SH(NA)030152-A[...]

SH (NA) 030152-A (1411) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo MR-JE-_B SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 MODEL MR-JE-_B SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET /H Interface [...]