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Mitsubishi Electric MR-E A Series Instruction Manual

General-purpose ac servo
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General-Purpose AC Servo
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MR-E- A/AG
INSTRUCTION MANUAL
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Summary of Contents for Mitsubishi Electric MR-E A Series

  • Page 1 General-Purpose AC Servo MODEL MR-E- A/AG INSTRUCTION MANUAL www.DataSheet4U.com...
  • Page 2 Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.
  • Page 3 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work.
  • Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.
  • Page 5 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Do not connect AC power directly to the servo motor.
  • Page 6 (5) Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention.
  • Page 7 About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area). FOR MAXIMUM SAFETY This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.
  • Page 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).
  • Page 9 (5) Grounding (a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the servo amplifier to the protective earth (PE) of the control box. Connect PE terminal of the control box to the NEUTRAL of a power supply. Be sure to ground the NEUTRAL of a power supply. (b) Do not connect two ground cables to the same protective earth (PE) terminal.
  • Page 10 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used (Acquisition schedule) Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-E-10A to MR-E-200A Servo motor :HC-KFE HC-SFE (2) Installation Install a fan of 100CFM (2.8 m /min) air flow 4 in (10.16 cm) above the servo amplifier or provide www.DataSheet4U.com cooling of at least equivalent capability.
  • Page 11 MEMO www.DataSheet4U.com A - 10...
  • Page 12 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10 1.1 Introduction.............................. 1- 1 1.2 Function block diagram .......................... 1- 2 1.3 Servo amplifier standard specifications ....................1- 3 1.4 Function list ............................. 1- 4 1.5 Model code definition ..........................1- 6 1.6 Combination with servo motor.......................
  • Page 13 4. OPERATION 4- 1 to 4- 6 4.1 When switching power on for the first time..................4- 1 4.2 Startup..............................4- 2 4.2.1 Selection of control mode........................4- 2 4.2.2 Position control mode ........................4- 2 4.2.3 Internal speed control mode ......................4- 4 5.

  • Page 14: Table Of Contents

    7.3 Manual mode 1 (simple manual adjustment)..................7- 7 7.3.1 Operation of manual mode 1 ......................7- 7 7.3.2 Adjustment by manual mode 1 ....................... 7- 7 7.4 Interpolation mode ..........................7-10 8. SPECIAL ADJUSTMENT FUNCTIONS 8- 1 to 8-10 8.1 Function block diagram ..........................
  • Page 15 13.2 Auxiliary equipment .......................... 13-21 13.2.1 Recommended wires ........................13-21 13.2.2 No-fuse breakers, fuses, magnetic contactors................13-23 13.2.3 Power factor improving reactors ....................13-23 13.2.4 Relays............................13-24 13.2.5 Surge absorbers ........................... 13-24 13.2.6 Noise reduction techniques......................13-24 13.2.7 Leakage current breaker......................13-30 13.2.8 EMC filter.............................
  • Page 16 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15- 1 to 15- 62 15.1. Functions and configuration......................15- 1 15.1.1 Introduction........................... 15- 1 15.1.2 Function block diagram ....................... 15- 2 15.1.3 Servo amplifier standard specifications ..................15- 3 15.1.4 Model code definition........................15- 4 15.1.5 Parts identification ........................
  • Page 17 MEMO www.DataSheet4U.com...
  • Page 18 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The Mitsubishi MR-E series general-purpose AC servo is based on the MR-J2-Super series, and has the same high performance and limited functions. It has position control and internal speed control modes. Further, it can perform operation with the control modes changed, e.g.
  • Page 19 1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. Regenerative brake option (Note 3) Servo amplifier Servo motor (Note 3) (Note 3) (Note 2) (Note 1) Power supply 3-phase Regenerative Current 200 to detector 230VAC,...
  • Page 20 1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications Servo Amplifier MR-E- 100A 200A Item 3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 3-phase 200 to 230VAC, Voltage/frequency 50/60Hz 50/60Hz 3-phase 200 to 230VAC: Permissible voltage fluctuation 170 to 253VAC 3-phase 170 to 253VAC 1-phase 230VAC: 207 to 253VAC Permissible frequency fluctuation...
  • Page 21 1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the corresponding chapters and sections. (Note) Function Description Refer to Control mode Section 3.1.1 Position control mode This servo is used as position control servo.
  • Page 22 1. FUNCTIONS AND CONFIGURATION (Note) Function Description Refer to Control mode Alarm history clear Alarm history is cleared. P, S Parameter No. 16 If the input power supply voltage had reduced to cause an Restart after instantaneous alarm but has returned to normal, the servo motor can be Parameter No.
  • Page 23 Applicable power supply :2.6A3PH200-230V 60Hz :170V 0-360Hz 2.8A OUTPUT Rated output current :XXXXYYYYY SERIAL Serial number :TCXXXAYYYGZZ PASSED MITSUBISHI ELECTRIC CORPORATION www.DataSheet4U.com MADE IN JAPAN (2) Model MR-E-40A or less MR-E-70A, 100A MR-E-200A MR - E Series General-purpose interface Rated output...
  • Page 24 1. FUNCTIONS AND CONFIGURATION 1.7 Parts identification (1) MR-E-100A or less Refer to Name/Application Display The 5-digit, seven-segment LED shows the servo Chapter6 status and alarm number. Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. www.DataSheet4U.com DOWN MODE...
  • Page 25 1. FUNCTIONS AND CONFIGURATION (2) MR-E-200A Name/Application Refer to Display Chapter6 The 5-digit, seven-segment LED shows the servo status and alarm number. Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. www.DataSheet4U.com DOWN MODE Chapter6 Used to set data. Used to change the display or data in each mode.
  • Page 26 1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. (1) MR-E-100A or less (Note 2) 3-phase 200V Refer to...
  • Page 27 1. FUNCTIONS AND CONFIGURATION (2) MR-E-200A Options and auxiliary equipment Refer to Options and auxiliary equipment Refer to 3-phase 200V No-fuse breaker Regenerative option Section 13.1.1 Section 13.2.2 to 230VAC power supply Magnetic contactor Cables Section 13.2.1 Section 13.2.2 Servo configuration software Section 13.2.3 Section 13.1.4 Power factor improving reactor...
  • Page 28 2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.
  • Page 29 2. INSTALLATION 2.2 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, a fault may occur. CAUTION Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) Installation of one servo amplifier Control box Control box 40mm...
  • Page 30 2. INSTALLATION (3) Others When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction. 2.3 Keep out foreign materials (1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier.
  • Page 31 2. INSTALLATION MEMO www.DataSheet4U.com 2 - 4...

  • Page 32: Signals And Wiring

    3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 10 minutes, and after the charge lamp has gone off, make sure that the voltage is safe in the tester or like.

  • Page 33: Standard Connection Example

    3. SIGNALS AND WIRING 3.1 Standard connection example POINT Refer to Section 3.7.1 for the connection of the power supply system and to Section 3.8 for connection with the servo motor. 3.1.1 Position control mode (1) FX-10GM Positioning module Servo amplifier FX-10GM www.DataSheet4U.com (Note 11)
  • Page 34 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.
  • Page 35 3. SIGNALS AND WIRING (2) AD75P (A1SD75P Positioning module AD75P Servo amplifier (A1SD75P (Note 9) 10m(32ft) max. (Note 12) (Note 8) (Note 8) External power READY supply (Note 2, 4) Trouble 24VDC INPS (Note 6) Zero speed PGO(24V) PGO(5V) PGO COM CLEAR CLEAR COM www.DataSheet4U.com...
  • Page 36 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.
  • Page 37 3. SIGNALS AND WIRING (3) QD75D (differential driver) Positioning module Servo amplifier QD75D (Note 11) (Note 9) 10m(32ft) max. (Note 8) (Note 8) External power READY supply RDY COM (Note 2, 4) 24VDC Trouble (Note 6) Zero speed PGO5 PGO COM CLEAR CLEAR COM PULSE F-...
  • Page 38 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.
  • Page 39 3. SIGNALS AND WIRING 3.1.2 Internal speed control mode Servo amplifier (Note 8) (Note 10) (Note 2, 4) Trouble External (Note 6) power Zero speed supply 24VDC Speed reached 10m(32ft) max. Ready (Note 8) www.DataSheet4U.com (Note 3, 5) Emergency stop Servo-on Encoder Z-phase pulse Forward rotation start...

  • Page 40: Internal Connection Diagram Of Servo Amplifier

    3. SIGNALS AND WIRING 3.2 Internal connection diagram of servo amplifier The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode. Servo amplifier (Note) (Note) External Approx. 4.7k power Approx.

  • Page 41: Connectors And Signal Arrangements

    3. SIGNALS AND WIRING 3.3 I/O signals 3.3.1 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to the next page for CN1 signal assignment. (1) Signal arrangement www.DataSheet4U.com MODE MITSUBISHI...
  • Page 42 3. SIGNALS AND WIRING (2) CN1 signal assignment The signal assignment of connector changes with the control mode as indicated below; For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters. (Note2) I/O Signals in control modes Related Connector...
  • Page 43 3. SIGNALS AND WIRING (3) Symbols and signal names Symbol Signal name Symbol Signal name Servo-on Zero speed Forward rotation stroke end In position Reverse rotation stroke end Speed reached Clear Trouble Speed selection 1 Warning Speed selection 2 Encoder Z-phase pulse (open collector) Proportion control Electromagnetic brake interlock Forward rotation start...

  • Page 44: Signal Explanations

    3. SIGNALS AND WIRING 3.3.2 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.6.2. In the control mode field of the table P : Position control mode, S: Internal speed control mode : Denotes that the signal may be used in the initial setting status.
  • Page 45 3. SIGNALS AND WIRING Control Connec- mode Signal Symbol tor pin Functions/Applications division Internal When using this signal, make it usable by making the setting of DI-1 torque limit parameter No. 43 to 48. selection (Refer to (5), Section 3.4.1.) Forward rotation CN1-3 Used to start the servo motor in any of the following directions:...
  • Page 46 3. SIGNALS AND WIRING Control Connec- mode Signal Symbol tor pin Functions/Applications division Emergency stop CN1-8 Disconnect EMG-SG to bring the servo motor to emergency stop DI-1 state, in which the servo is switched off and the dynamic brake is operated.
  • Page 47 3. SIGNALS AND WIRING (2) Output signals Control Connec- mode Signal Symbol tor pin Functions/Applications division Trouble CN1-9 ALM-SG are disconnected when power is switched off or the DO-1 protective circuit is activated to shut off the base circuit. Without alarm, ALM-SG are connected within 1 after power on.
  • Page 48 3. SIGNALS AND WIRING Control Connec- mode Signal Symbol tor pin Functions/Applications division Alarm code ACD 0 To use this signal, set " 1 " in parameter No.49. DO-1 This signal is output when an alarm occurs. When there is no ACD 1 alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
  • Page 49 3. SIGNALS AND WIRING Control Connec- Signal Symbol tor pin Functions/Applications mode division Encoder Z-phase CN1-21 Outputs the zero-point signal of the encoder. One pulse is output DO-2 pulse per servo motor revolution. OP and LG are connected when the (Open collector) zero-point position is reached.

  • Page 50: Detailed Description Of The Signals

    3. SIGNALS AND WIRING 3.4 Detailed description of the signals 3.4.1 Position control mode (1) Pulse train input (a) Input pulse waveform selection Encoder pulses may be input in any of three different forms, for which positive or negative logic can be chosen.
  • Page 51 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shown below: Servo amplifier External power supply 24VDC Approx. 1.2k Approx. 1.2k www.DataSheet4U.com The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010).
  • Page 52 3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below: Servo amplifier www.DataSheet4U.com The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows.
  • Page 53 3. SIGNALS AND WIRING (2) In-position (INP) PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the in-position range. Servo-on (SON) Alarm In-position range...
  • Page 54 3. SIGNALS AND WIRING (5) Torque limit (a) Torque limit and torque By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below.
  • Page 55 3. SIGNALS AND WIRING 3.4.2 Internal speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters. Forward rotation (CCW) www.DataSheet4U.com Reverse rotation (CW) The following table indicates the rotation direction according to forward rotation start (ST1) and reverse rotation start (ST2) combination: (Note) External input signals Rotation direction...
  • Page 56 3. SIGNALS AND WIRING (b) Speed selection 1 (SP1), speed selection 2 (SP2), speed selection 3 (SP3) and speed command value By making speed selection 1 (SP1), speed selection 2 (SP2) and speed selection 3 (SP3) usable by setting of parameter No. 43 to 47, you can choose the speed command values of internal speed commands 1 to 7.

  • Page 57: Speed Control Mode

    3. SIGNALS AND WIRING 3.4.3 Position/internal speed control change mode Set "0001" in parameter No. 0 to switch to the position/internal speed control change mode. This function is not available in the absolute position detection system. (1) Control change (LOP) Use control change (LOP) to switch between the position control mode and the internal speed control mode from an external contact.
  • Page 58 3. SIGNALS AND WIRING (3) Internal speed setting in speed control mode (a) Speed command and speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are as in (a), (1) in section 3.4.2. Generally, make connection as shown below: Servo amplifier www.DataSheet4U.com...
  • Page 59 3. SIGNALS AND WIRING 3.5 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation CAUTION signal is not being input, ensure safety, and reset the alarm before restarting operation. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.
  • Page 60 3. SIGNALS AND WIRING 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. External power ALM, etc. supply 24VDC DO-1 SON, etc. www.DataSheet4U.com DI-1 (Note) PG NG PP NP Isolated LA etc. Differential line driver output etc.
  • Page 61 3. SIGNALS AND WIRING 3.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.3.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
  • Page 62 3. SIGNALS AND WIRING (b) Lamp load Servo amplifier External power supply 24VDC ALM, etc. www.DataSheet4U.com (3) Pulse train input interface DI-2 Provide a pulse train signal in the open collector or differential line driver system. (a) Open collector system 1) Interface Servo amplifier Max.
  • Page 63 3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Servo amplifier Max. input pulse frequency 500kpps Am26LS31 or equivalent PP(NP) About 100 PG(NG) www.DataSheet4U.com 2) Conditions of the input pulse tLH tHL 0.1 s PP PG tc 1 s tF 3 s NP NG (4) Encoder pulse output...
  • Page 64 3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Max. output current: 35mA Servo amplifier Servo amplifier Am26LS32 or equivalent High-speed photocoupler (LB, LZ) (LB, LZ) (LBR, LZR) (LBR, LZR) www.DataSheet4U.com 2) Output pulse Servo motor CCW rotation LZ signal varies 3/8T on its leading edge.
  • Page 65 3. SIGNALS AND WIRING 3.7 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. CAUTION Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
  • Page 66 3. SIGNALS AND WIRING (2) For 1-phase 230VAC power supply Emergency stop CNP1 Servo amplifier Power supply 1-phase 230VAC www.DataSheet4U.com (Note) Emergency stop Servo-on External power Trouble supply 24VDC Note: To use the built-in regenerative resistor, be sure to connect across P and D of the power supply connector (CNP1). 3.7.2 Terminals Refer to Section 11.1 (4) for the signal arrangement.
  • Page 67 3. SIGNALS AND WIRING 3.7.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with the power supply (three-phase 200V: L , single-phase 230V: L ). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 68 3. SIGNALS AND WIRING 3.8 Connection of servo amplifier and servo motor 3.8.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric WARNING shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
  • Page 69 3. SIGNALS AND WIRING Servo motor Connection diagram Servo amplifier Servo motor CNP2 U (Red) V (White) Motor W (Black) (Green) (Note 1) 24VDC (Note2) HC-KFE13 (B) to 73 (B) Electro- magnetic brake To be shut off when servo www.DataSheet4U.com on signal switches off or by alarm signal Encoder...
  • Page 70 3. SIGNALS AND WIRING 3.8.3 I/O terminals (1) HC-KFE series Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m (0.98ft.) www.DataSheet4U.com Power supply connector (molex) Without electromagnetic brake 5557-04R-210 (receptacle) Encoder cable 0.3m (0.98ft.) CONT 5556PBTL (Female terminal) With connector 1-172169-9 With electromagnetic brake (AMP) 5557-06R-210 (receptacle)
  • Page 71 3. SIGNALS AND WIRING (2) HC-SFE series Servo motor side connectors Servo motor Electromagnetic For power supply For encoder brake connector The connector CE05-2A22- HC-SFE52(B) to 152(B) for power is 23PD-B MS3102A20- shared. CE05-2A24- MS3102A10SL- HC-SFE202(B) 17PD-B www.DataSheet4U.com Encoder connector Brake connector Power supply connector Power supply connector signal arrangement...
  • Page 72 3. SIGNALS AND WIRING 3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. Contacts must be open when servo-on signal is off or when an Circuit must be alarm (trouble) is present and when...
  • Page 73 3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on signal command (from controller) ON/OFF Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
  • Page 74 3. SIGNALS AND WIRING (c) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake (10ms) Base circuit Invalid(ON) Electromagnetic brake Electromagnetic operation delay time brake interlock (MBR) Valid(OFF) www.DataSheet4U.com No(ON) Trouble (ALM) Yes(OFF) (d) Power off Dynamic brake Dynamic brake (10ms)
  • Page 75 3. SIGNALS AND WIRING 3.10 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor.
  • Page 76 3. SIGNALS AND WIRING 3.11 Servo amplifier connectors (CNP1, CNP2) wiring method (When MR-ECPN1-B and MR-ECPN2-B of an option are used.) (1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cable size: 0.2 to 2.5mm 8 to 9 mm www.DataSheet4U.com...
  • Page 77 3. SIGNALS AND WIRING (2) Inserting the cable into the connector (a) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work. [Unit: mm] (R0.3) (22) (R0.3) www.DataSheet4U.com (b) When using the flat-blade screwdriver - part 1 1) Insert the screwdriver into the square hole.
  • Page 78 3. SIGNALS AND WIRING (c) When using the flat-blade screwdriver - part 2 www.DataSheet4U.com 1) Insert the screwdriver into the 2) Push the screwdriver in the 3) With the screwdriver pushed, insert the cable in the square window at top of the direction of arrow.
  • Page 79 3. SIGNALS AND WIRING 3.12 Instructions for the 3M connector When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...
  • Page 80 4. OPERATION 4. OPERATION 4.1 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (L ) of the servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.
  • Page 81 4. OPERATION 4.2 Startup Do not operate the switches with wet hands. You may get an electric shock. WARNING Before starting operation, check the parameters. Some machines may perform unexpected operation. CAUTION During power-on for some after power-off, do not touch or close a parts (cable etc.) to the servo amplifier heat sink, regenerative brake resistor, the servo motor, etc.
  • Page 82 4. OPERATION (4) Servo-on Switch the servo-on in the following procedure: 1) Switch on power supply. 2) Switch on the servo-on signal (SON). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
  • Page 83 4. OPERATION 4.2.3 Internal speed control mode (1) Power on 1) Switch off the servo-on (SON) signal. 2) When circuit power is switched on, the display shows "r (servo motor speed)", and in two second later, shows data. (2) Test operation Using jog operation in the test operation mode, make sure that the servo motor operates.
  • Page 84 4. OPERATION (6) Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start (ST1) or reverse rotation start (ST2) signal has the same stop pattern as described below.
  • Page 85 4. OPERATION MEMO www.DataSheet4U.com 4 - 6...

  • Page 86: Parameters

    5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. 5.1 Parameter list 5.1.1 Parameter write inhibit POINT After setting the parameter No. 19 value, switch power off, then on to www.DataSheet4U.com make that setting valid.

  • Page 87: Item List

    5. PARAMETERS 5.1.2 Lists POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. The symbols in the control mode column of the table indicate the following modes: P : Position control mode S : Internal speed control mode...
  • Page 88 5. PARAMETERS Control Initial Customer No. Symbol Name Unit mode value setting *OP2 Function selection 2 0000 *OP3 Function selection 3 (Command pulse selection) 0000 *OP4 Function selection 4 0000 Feed forward gain Zero speed r/min For manufacturer setting For manufacturer setting pulse *ENR Encoder output pulses...
  • Page 89 5. PARAMETERS Control Initial Customer No. Symbol Name Unit mode value setting For manufacturer setting 0000 *OP6 Function selection 6 0000 For manufacturer setting 0000 *OP8 Function selection 8 0000 *OP9 Function selection 9 0000 *OPA Function selection A 0000 Serial communication time-out selection For manufacturer setting Machine resonance suppression filter 1...

  • Page 90: Details List

    5. PARAMETERS (2) Details list Initial Setting Control Class No. Symbol Name and function Unit value range mode *STY Control mode, regenerative brake option selection 100W Refer to Used to select the control mode and regenerative brake option. : 0000 Name 200W function...
  • Page 91 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Auto tuning 0105 Refer to Used to selection the response level, etc. for execution of auto tuning. Name Refer to Chapter 7. function column. Auto tuning response level setting Response Machine resonance value...
  • Page 92 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode In-position range pulse Used to set the in-position signal (INP) output range in the command pulse increments prior to electronic gear calculation. 10000 Position loop gain 1 red/s Used to set the gain of position loop.
  • Page 93 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Internal speed command 2 r/min 0 to Used to set speed 2 of internal speed commands. instan- taneous permi- ssible speed Internal speed command 3 1000 r/min 0 to...
  • Page 94 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode For manufacturer setting Don’t change this value by any means. *SNO Station number setting sta- Used to specify the station number for serial communication. tion Always set one station to one axis of servo amplifier.
  • Page 95 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Status display selection 0000 Refer to Used to select the status display shown at power-on. Name function column. Selection of status display at power-on 0: Cumulative feedback pulses 1: Servo motor speed 2: Droop pulses 3: Cumulative command pulses...
  • Page 96 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Function selection 2 *OP2 0000 Refer to Used to select restart after instantaneous power failure, Name servo lock at a stop in internal speed control mode, and slight vibration suppression control.
  • Page 97 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *OP4 Function selection 4 0000 Refer to Used to select stop processing at forward rotation stroke end (LSP) Name reverse rotation stroke end (LSN) off and choose TLC/VLC output. function column.
  • Page 98 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *ENR Encoder output pulses 4000 pulse/ Used to set the encoder pulses (A-phase or B-phase) output by the servo amplifier. 65535 Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No.
  • Page 99 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Position loop gain 2 rad/s Used to set the gain of the position loop. Set this parameter to increase the position response to level load 1000 disturbance.
  • Page 100 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *DI1 Input signal selection 1 0002 Refer to Used to assign the control mode changing signal input pins and to set Name the clear (CR). function column.
  • Page 101 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *DI2 Input signal selection 2 (CN1-4) 0111 Refer to Allows any input signal to be assigned to CN1-pin 4. Name Note that the setting digit and assigned signal differ according to the control mode.
  • Page 102 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *DI3 Input signal selection 3 (CN1-3) 0882 Refer to Allows any input signal to be assigned to CN1-pin 3. Name The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
  • Page 103 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Input signal selection 6 (CN1-7) *DI6 0000 Refer to Allows any input signal to be assigned to CN1-pin 7. Name The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
  • Page 104 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *DO1 Output signal selection 1 0000 Refer to Used to select the connector pins to output the alarm code and Name warning (WNG). function column. Setting of alarm code output Connector pins Set value...
  • Page 105 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode For manufacturer setting 0000 Don’t change this value by any means. *OP6 Function selection 6 0000 Refer to Used to select the operation to be performed when the reset (RES) Name switches on.
  • Page 106 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *OPA Function selection A 0000 Refer to Used to select the position command acceleration/deceleration time Name constant (parameter No. 7) control system. function column. Position command acceleration/deceleration time constant control 0: Primary delay www.DataSheet4U.com...
  • Page 107 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Low-pass filter/adaptive vibration suppression control 0000 Refer to Used to selection the low-pass filter and adaptive vibration Name suppression control. (Refer to Chapter 8.) function column.
  • Page 108 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *CDP Gain changing selection 0000 Refer to Used to select the gain changing condition. (Refer to Section 8.5.) Name function column. Gain changing selection Gains are changed in accordance with the settings of parameters No.
  • Page 109 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode r/min 0 to in- Internal speed command 5 stanta- Used to set speed 5 of internal speed commands. neous permi- ssible speed r/min 0 to in- Internal speed command 6 stanta- Used to set speed 6 of internal speed commands.
  • Page 110 5. PARAMETERS 5.2 Detailed description 5.2.1 Electronic gear CAUTION Wrong setting can lead to unexpected fast rotation, causing injury. POINT The guideline of the electronic gear setting range is 50 . If the set value is outside this range, noise may be generated during www.DataSheet4U.com acceleration/ deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.
  • Page 111 5. PARAMETERS (2) Conveyor setting example For rotation in increments of 0.01 per pulse Servo motor 10000 [pulse/rev] Machine specifications Table Table : 360 /rev Reduction ratio: n 1/18 Servo motor resolution: Pt 10000 [pulses/rev] Timing belt : 4/64 10000 0.01 1/18 360 www.DataSheet4U.com...
  • Page 112 5. PARAMETERS (2) Set content The servo amplifier is factory-set to output the servo motor speed to Analog monitor 1 (MO1) and the torque to Analog monitor 2 (MO2). The setting can be changed as listed below by changing the parameter No.17 value: Refer to Appendix 2 for the measurement point.
  • Page 113 5. PARAMETERS (3) Analog monitor block diagram www.DataSheet4U.com 5 - 28...
  • Page 114 5. PARAMETERS 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is made valid. A slow stop can be made by changing the parameter No. 22 value. Parameter No.22 Setting Stopping method Sudden stop...
  • Page 115 5. PARAMETERS 5.2.5 Position smoothing By setting the position command acceleration/deceleration time constant (parameter No.7), you can run the servo motor smoothly in response to a sudden position command. The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration/deceleration time constant.

  • Page 116: Display And Operation

    6. DISPLAY AND OPERATION 6. DISPLAY AND OPERATION 6.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.

  • Page 117: Status Display

    6. DISPLAY AND OPERATION 6.2 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears.
  • Page 118 6. DISPLAY AND OPERATION 6.2.2 Status display list The following table lists the servo statuses that may be shown: Display Name Symbol Unit Description range Cumulative feedback pulse Feedback pulses from the servo motor encoder are counted and 99999 pulses displayed.
  • Page 119 6. DISPLAY AND OPERATION Display Name Symbol Unit Description range Within one-revolution The within one-revolution position is displayed in 100 pulse position high pulse increments of the encoder. The value returns to 0 when it exceeds the maximum number of 1310 pulses.

  • Page 120: Diagnostic Mode

    6. DISPLAY AND OPERATION 6.3 Diagnostic mode Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Indicates the ON-OFF states of the external I/O signals.
  • Page 121 6. DISPLAY AND OPERATION 6.4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.
  • Page 122 6. DISPLAY AND OPERATION 6.5 Parameter mode The parameters whose abbreviations are marked* are made valid by changing the setting and then switching power off once and switching it on again. Refer to Section 5.1.2. (1) Operation example The following example shows the operation procedure performed after power-on to change the control mode (parameter No.

  • Page 123: External I/O Signal Display

    6. DISPLAY AND OPERATION 6.6 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP once.
  • Page 124 6. DISPLAY AND OPERATION (3) Default signal indications (a) Position control mode EMG (CN 1-8) Emergency stop LSN (CN 1-7) Reverse rotation stroke end LSP (CN 1-6) Forward rotation stroke end CR (CN 1-5) Clear RES (CN 1-3) Reset SON (CN 1-4) Servo-on Input signals Lit: ON Extinguished: OFF...
  • Page 125 6. DISPLAY AND OPERATION 6.7 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (MBR) after assigning it to pin CN1-12 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.
  • Page 126 6. DISPLAY AND OPERATION 6.8 Test operation mode The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION Always use the servo motor alone. If any operational fault has occurred, stop operation using the emergency stop (EMG) signal.
  • Page 127 6. DISPLAY AND OPERATION 6.8.2 Jog operation Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the servo configuration software, you can change the operation conditions.
  • Page 128 6. DISPLAY AND OPERATION 6.8.3 Positioning operation POINT The servo configuration software is required to perform positioning operation. Positioning operation can be performed once when there is no command from the external command device. (1) Operation Connect EMG-SG to start positioning operation to use the internal power supply. www.DataSheet4U.com Click the "Forward"...
  • Page 129 6. DISPLAY AND OPERATION 6.8.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host programmable controller or the like.
  • Page 130 7. GENERAL GAIN ADJUSTMENT 7. GENERAL GAIN ADJUSTMENT 7.1 Different adjustment methods 7.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order.
  • Page 131 7. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Used when you want to Interpolation made for 2 or more match the position gain axes? (PG1) between 2 or more Interpolation mode axes. Normally not used for other purposes.
  • Page 132 7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.
  • Page 133 7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia Automatic setting moment Encoder Control gains Command Current Servo PG1,VG1 control motor PG2,VG2,VIC Current feedback Real-time auto www.DataSheet4U.com Set 0 or 1 to turn on. Position/speed tuning section feedback...
  • Page 134 7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
  • Page 135 7. GENERAL GAIN ADJUSTMENT 7.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.2) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration.

  • Page 136: Operation Of Manual Mode 1

    7. GENERAL GAIN ADJUSTMENT 7.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 7.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
  • Page 137 7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed control gain 2 (parameter No. 37) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed control gain 2 setting Speed loop response...
  • Page 138 7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 6) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.

  • Page 139: Interpolation Mode

    7. GENERAL GAIN ADJUSTMENT 7.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.

  • Page 140: Special Adjustment Functions

    8. SPECIAL ADJUSTMENT FUNCTIONS 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 7. If a mechanical system has a natural resonance level point, increasing the servo system response may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
  • Page 141 8. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (parameter No. 58) and machine resonance suppression filter 2 (parameter No. 59) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (parameter No.
  • Page 142 8. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

  • Page 143: Adaptive Vibration Suppression Control

    8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.60). Parameter No. 60 Adaptive vibration suppression control selection Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter No. 58) invalid. 0: Invalid 1: Valid Machine resonance frequency is always detected to...

  • Page 144: Gain Changing Function

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external input signal to change gains during operation. 8.5.1 Applications This function is used when: (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.

  • Page 145: Parameters

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.5.3 Parameters When using the gain changing function, always set " " in parameter No.2 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
  • Page 146 8. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. 6, 34 to 38 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed.

  • Page 147: Gain Changing Operation

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to...
  • Page 148 8. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to 0.1 times servo motor inertia moment Position control gain 2 rad/s Speed control gain 2...
  • Page 149 8. SPECIAL ADJUSTMENT FUNCTIONS MEMO www.DataSheet4U.com 8 - 10...

  • Page 150: Inspection

    9. INSPECTION 9. INSPECTION Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. WARNING Any person who is involved in inspection should be fully competent to do the work.
  • Page 151 9. INSPECTION (c) Servo amplifier cooling fan The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the fan must be changed in a few years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection. (d) Bearings When the servo motor is run at rated speed under rated load, change the bearings in 20,000 to 30,000 hours as a guideline.

  • Page 152: Troubleshooting

    10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the optional servo configuration software, you can refer to unrotated servo motor reasons, etc. www.DataSheet4U.com The following faults may occur at start-up.
  • Page 153 10. TROUBLESHOOTING Start-up sequence Fault Investigation Possible cause Refer to Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 (speed fluctuations) following procedure: are large at low 1. Increase the auto tuning speed. response level. 2.
  • Page 154 10. TROUBLESHOOTING (2) How to find the cause of position shift Positioning unit Servo amplifier (a) Output pulse Electronic gear (parameters No. 3, 4) Machine counter Servo motor (d) Machine stop position M (b) Cumulative command pulses (C) Servo-on (SON), stroke end (LSP/LSN) input Encoder...

  • Page 155: Internal Speed Control Mode

    10. TROUBLESHOOTING 10.1.2 Internal speed control mode Start-up sequence Fault Investigation Possible cause Refer to Power on (Note) LED is not lit. Not improved if connectors 1. Power supply voltage fault LED flickers. CN1, CN2 and CN3 are 2. Servo amplifier is faulty. disconnected.

  • Page 156: When Alarm Or Warning Has Occurred

    10. TROUBLESHOOTING 10.2 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (SON) signal at occurrence of an alarm. 10.2.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 10.2.2 or 10.2.3 and take the appropriate action.

  • Page 157: Remedies For Alarms

    10. TROUBLESHOOTING 10.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the CAUTION alarm, and restart operation. Otherwise, injury may occur. POINT When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation.
  • Page 158 10. TROUBLESHOOTING Display Name Definition Cause Action AL.1A Motor Wrong combination Wrong combination of servo Use correct combination. combination of servo anplifier amplifier and servo motor connected. error and servo motor. AL.20 Encoder error 2 Communication 1. Encoder connector (CN2) Connect correctly.
  • Page 159 10. TROUBLESHOOTING Display Name Definition Cause Action AL.31 Overspeed Speed has exceeded 1. Input command pulse frequency Set command pulses correctly. the instantaneous exceeded the permissible permissible speed. instantaneous speed frequency. 2. Small acceleration/deceleration Increase acceleration/deceleration time time constant caused overshoot to constant.
  • Page 160 10. TROUBLESHOOTING Display Name Definition Cause Action AL.37 Parameter Parameter setting is 1. Servo amplifier fault caused the Change the servo amplifier. error wrong. parameter setting to be rewritten. 2. Regenerative brake option or servo Set parameter No.0 correctly. motor not used with servo amplifier was selected in parameter No.0.
  • Page 161 10. TROUBLESHOOTING Display Name Definition Cause Action AL.51 Overload 2 Machine collision or 1. Machine struck something. 1. Review operation pattern. the like caused max. 2. Install limit switches. output current to 2. Wrong connection of servo motor. Connect correctly. flow successively for Servo amplifier's output terminals several seconds.

  • Page 162: Remedies For Warnings

    10. TROUBLESHOOTING 10.2.3 Remedies for warnings If AL.E6 occurs, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Use the optional servo configuration software to refer to the cause of warning.
  • Page 163 10. TROUBLESHOOTING MEMO www.DataSheet4U.com 10 - 12...

  • Page 164: Outline Dimension Drawings

    11. OUTLINE DIMENSION DRAWINGS 11. OUTLINE DIMENSION DRAWINGS 11.1 Servo amplifiers (1) MR-E-10A MR-E-20A [Unit: mm] ([Unit: in]) 50 (1.97) 135 (5.32) www.DataSheet4U.com (2.76) (0.24) Weight: 0.7 [kg] (1.54 [lb]) PE terminals Terminal screw: M4 Tightening torque: 1.2 [N m] (169.9 [oz in]) 11 - 1...
  • Page 165 11. OUTLINE DIMENSION DRAWINGS (2) MR-E-40A [Unit: mm] ([Unit: in]) 135 (5.32) (2.76) (2.76) www.DataSheet4U.com (0.87) Weight: 1.1 [kg] (2.43 [lb]) PE terminals Terminal screw: M4 Tightening torque: 1.2 [N m] (169.9 [oz in]) 11 - 2...
  • Page 166 11. OUTLINE DIMENSION DRAWINGS (3) MR-E-70A MR-E-100A [Unit: mm] ([Unit: in]) 70 (2.76) 190 (7.48) (2.76) (0.98) www.DataSheet4U.com (1.65) (0.87) Weight: 1.7 [kg] (3.75 [lb]) PE terminals Terminal screw: M4 Tightening torque: 1.2 [N m] (169.9 [oz in]) 11 - 3...
  • Page 167 11. OUTLINE DIMENSION DRAWINGS (4) MR-E-200A [Unit: mm] ([Unit: in]) 70 (2.76) 195 (7.68) 90 (3.54) www.DataSheet4U.com (1.58) (0.24) (3.07) Weight: 2.0 [kg] (4.41 [lb]) PE terminal Terminal screw: M4 Tightening torque: 1.2 [N m] 11 - 4...

  • Page 168: Connectors

    11. OUTLINE DIMENSION DRAWINGS 11.2 Connectors (1) Servo amplifier side <3M > (a) Soldered type Model [Unit: mm] Connector : 10126-3000VE ([Unit: in]) Shell kit : 10326-52F0-008 12.0(0.47) 14.0 22.0 (0.87) (0.55) www.DataSheet4U.com Logo, etc. are indicated here. 33.3 (1.31) 12.7(0.50) (b) Threaded type Model...
  • Page 169 11. OUTLINE DIMENSION DRAWINGS (2) CN2 Connector Connector housing : 54593-1011 Cover A : 54594-1015 Cover B : 54595-1005 Shell cover : 58935-1000 Shell body : 58934-1000 Cable clamp : 58934-0000 Screw : 58203-0010 [Unit: mm] ([Unit: in]) www.DataSheet4U.com 40 (1.58) 12.5 (0.49) (3) CN3 Connector (Marushin electric mfg)
  • Page 170 11. OUTLINE DIMENSION DRAWINGS (4) CNP1 CNP2 Connector (molex) (a) Insulation displacement type [Unit: mm] ([Unit: in]) Variable Dimensions Number of [mm] ([in]) Connector Application Poles 17.8 CNP2 51240-0300 Circuit number indication (0.70) (0.39) (1kW or less) 32.8 CNP1 51240-0600 (1.29) (0.98) (1kW or less)
  • Page 171 11. OUTLINE DIMENSION DRAWINGS (b) Insertion type [Unit: mm] ([Unit: in]) Variable Dimensions Number of [mm] ([in]) Connector Application Poles 16.5 CNP2 55757-0310 (0.65) (0.39) (1kW or less) Housing Housing cover 31.5 CNP1 55755-0610 (1.24) (0.98) (1kW or less) www.DataSheet4U.com 5 (0.20) 26.5 (1.04) Pitch...

  • Page 172: Characteristics

    12. CHARACTERISTICS 12. CHARACTERISTICS 12.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 12.1, Overload 2 alarm (AL.51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.
  • Page 173 12. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of (104 ).

  • Page 174: Dynamic Brake Characteristics

    12. CHARACTERISTICS 12.3 Dynamic brake characteristics Fig. 12.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 12.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.

  • Page 175: Encoder Cable Flexing Life

    12. CHARACTERISTICS 12.4 Encoder cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 10 5 10 1 10 a : Long flexing-life encoder cable 5 10 MR-EKCBL M-H www.DataSheet4U.com...

  • Page 176: Options And Auxiliary Equipment

    13. OPTIONS AND AUXILIARY EQUIPMENT 13. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, make sure that the charge WARNING lamp is off more than 10 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. Use the specified auxiliary equipment and options.
  • Page 177 13. OPTIONS AND AUXILIARY EQUIPMENT (b) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: a.
  • Page 178 13. OPTIONS AND AUXILIARY EQUIPMENT Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option. ER [J] Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation period tf [s] to select the necessary regenerative brake option.
  • Page 179 13. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] 6 (0.24) mounting hole MR-RB www.DataSheet4U.com 5 (0.20) Terminal block Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m](4 to 5 [lb in]) 1.6 (0.06) 6 (0.23) (0.79) Regenerative...
  • Page 180 13. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 [Unit: mm (in)] 7 14 slot Terminal block Terminal block www.DataSheet4U.com 7(0.28) 2.3(0.09) 116(4.57) Terminal screw: M4 (0.47) 128(5.04) 200(7.87) 17(0.67) Tightening torque: 1.2 [N m](10 [lb in]) Weight Regenerative Regenerative Resistance brake option power [W] [kg] [lb]...

  • Page 181: Cables And Connectors

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.2 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. Those indicated by broken lines in the figure are not options. Servo amplifier Operation panel Analog monitor Personal...
  • Page 182 13. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Standard encoder MR-EKCBL M-L Housing: 1-172161-9 Standard (Note) cable Refer to (2) (a) in (molex or equivalent) Connector pin: 170359-1 flexing life this section. (AMP or equivalent) IP20 Long flexing life MR-EKCBL M-H Long flexing encoder cable...
  • Page 183 13. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Analog monitor MR-E3CBL15-P Connector: MP371/6 Connector: MJ372/6 Analog RS-232C branch (Marushin Musen Denki or monitor RS- cable equivalent) 232C branch cable Analog monitor MR-ECN3 Connector: MP371/6 Analog RS-232C (In units of 20 pcs. (Marushin Musen Denki or monitor for connector...
  • Page 184 13. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable If you have fabricated the encoder cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 12.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .
  • Page 185 13. OPTIONS AND AUXILIARY EQUIPMENT Encoder cable of less than 30m When fabricating an encoder cable, use the MR-ECNM connector set. Referring to the following wiring diagram, you can fabricate an encoder cable of up to less than 30m. MR-EKCBL2M-L MR-EKCBL5M-L MR-EKCBL20M-L MR-EKCBL10M-L...
  • Page 186 13. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-EKCBL M-H (long flex life model) Use this encoder cable with the HC-KFE series servo motor. 1) Model explanation Model: MR-EKCBL Long flex life Symbol Cable Length [m(ft)] Communication System 2 (6.56) 5 (16.4) Two-wire type 10 (32.8) 20 (65.6)
  • Page 187 13. OPTIONS AND AUXILIARY EQUIPMENT MR-EKCBL2M-H MR-EKCBL5M-H MR-EKCBL20M-H MR-EKCBL10M-H Servo amplifier side Encoder side Servo amplifier side Encoder side www.DataSheet4U.com (Note) (Note) Plate Plate Note. When an encoder cable is fabricated, this wire is not required. Encoder cable of 30m or more POINT The communication system of the encoder cable in this wiring diagram is the four-wire type.
  • Page 188 13. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-ESCBL M-L (standard flex life model) These encoder cables are used with the HC-SFE series servo motors. 1) Model explanation Model: MR-ESCBL Standard flex life Symbol Cable Length [m(ft)] Communication System 2 (6.56) 5 (16.4) Two-wire type 10 (32.8) 20 (65.6)
  • Page 189 13. OPTIONS AND AUXILIARY EQUIPMENT Encoder cable of 30m or more POINT The communication system of the encoder cable in this wiring diagram is the four-wire type. Set "1 " in parameter No. 20. When fabricating an encoder cable, use the MR-ECNS connector set. Referring to the following wiring diagram, you can fabricate an encoder cable of up to 50m.
  • Page 190 13. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-ESCBL M-H (long flex life model) MR-ENECBL M-H (IP65/IP67-compatible, long flex life model) These encoder cables are used with the HC-SFE series servo motors. 1) Model explanation Model: MR-ESCBL Long flex life Symbol Cable Length [m(ft)] Communication System 2 (6.56) 5 (16.4) Two-wire type...
  • Page 191 13. OPTIONS AND AUXILIARY EQUIPMENT 2) Connection diagram For the pin assignment on the servo amplifier side, refer to Section 3.3.1. Servo amplifier Encoder connector Encoder connector Pin Signal Pin Signal Servo motor Encoder cable (Optional or fabricated) CONT Encoder 50m(164.0ft) max.
  • Page 192 13. OPTIONS AND AUXILIARY EQUIPMENT Encoder cable of 30m or more POINT The communication system of the encoder cable in this wiring diagram is the four-wire type. Set "1 " in parameter No. 20. When fabricating an encoder cable, use the MR-ECNS (IP20-compatible model) or MR-ENECNS (IP65/IP67-compatible model) connector set.
  • Page 193 13. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. (a) Model definition Model: QC30R2 (Cable length 3[m](10[ft])) www.DataSheet4U.com (b) Connection diagram for fabrication MR-CPCATCBL3M...

  • Page 194: Analog Monitor, Rs-232C Branch Cable (Mr-E3Cbl15-P)

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.3 Analog monitor, RS-232C branch cable (MR-E3CBL15-P) (1) Usage The analog monitor, RS-232C branch cable (MR-E3CBL15-P) is designed for use when a personal computer and analog monitor outputs are used at the same time. Servo amplifier Analog monitor, RS-232C branch cable Communication cable (MR-E3CBL15-P)

  • Page 195: Servo Configurations Software

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.4 Servo configurations software The servo configuration software (MRZJW3-SETUP154E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Description Communication signal Conforms to RS-232C.
  • Page 196 13. OPTIONS AND AUXILIARY EQUIPMENT 13.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard. 13.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.
  • Page 197 13. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 13.2 Wires for option cables Characteristics of one core (Note 3) Length Core size Number Type Model Finishing...
  • Page 198 13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.2 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. Fuse Servo amplifier No-fuse breaker...
  • Page 199 13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Input signals (interface DI-1) signals To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less (Ex.) Omron : type MY...
  • Page 200 13. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.
  • Page 201 13. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
  • Page 202 13. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short...
  • Page 203 13. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole 17.5(0.69) installation hole L or less 10(0.39) www.DataSheet4U.com 22(0.87) (Note)M4 screw 35(1.38) (0.24) Note: Screw hole for grounding. Connect it to the earth plate of the control box. Type Accessory fittings Clamp fitting...
  • Page 204 13. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Connection diagram Outline drawing [Unit: mm] ([Unit: in.]) Wind the 3-phase wires by the equal number of times in the...
  • Page 205 13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
  • Page 206 13. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: Servo Servo motor amplifier HC-KFE73 MR-E-40A Use a leakage current breaker generally available. www.DataSheet4U.com Find the terms of Equation (13.2) from the diagram: Ig1 20 0.1 [mA] 1000...
  • Page 207 13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.8 EMC filter For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Servo amplifier Weight [kg]([lb])
  • Page 208 14. SERVO MOTOR 14. SERVO MOTOR 14.1 Compliance with the overseas standards 14.1.1 Compliance with EC directives Use the servo motor compatible with the EN Standard. Unless otherwise specified, the handling, performance, specifications and others of the EN Standard- compatible models are the same as those of the standard models. To comply with the EN Standard, also observe the following items strictly.
  • Page 209 Rated output OUTPUT 1.5kW IEC60034-1 '99 Rated speed, Protection structure, 2000r/min IP65CI.F 9.5kg Insulation class, Weight SER.No. AS958300202X Serial number MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN www.DataSheet4U.com (2) Model (a) HC-KFE series (low inertia, small capacity) HC-KFE Appearance Series name...
  • Page 210 14. SERVO MOTOR (b) HC-SFE series (middle inertia, middle capacity) HC-SFE Appearance Series name Shaft type Symbol Shaft Shape Standard None (Straight shaft) With keyway Note: Without key Reduction gear www.DataSheet4U.com Symbol (Note) Reduction Gear None Without For general industrial machine (flange type) For general industrial machine...
  • Page 211 14. SERVO MOTOR 14.3 Parts identification Name/Application Refer To Lead type Encoder Section 14.7.1 Encoder cable Section 14.5 with encoder connector Power cable Power lead (U, V, W) Earth lead Section 14.5 www.DataSheet4U.com Brake lead (for motor with electromagnetic brake) Servo motor shaft Section 14.7.4 Name/Application...
  • Page 212 14. SERVO MOTOR 14.4 Installation Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.
  • Page 213 14. SERVO MOTOR 14.4.1 Environmental conditions Environment Conditions 0 to 40 (non-freezing) Ambient temperature 32 to 104 (non-freezing) Ambient humidity 80%RH or less (non-condensing) 15 to 70 (non-freezing) Storage temperature 5 to 158 (non-freezing) Storage humidity 90%RH or less (non-condensing) Indoors (no direct sunlight) Ambient Free from corrosive gas, flammable gas, oil mist, dust and dirt...
  • Page 214 14. SERVO MOTOR 14.4.3 Load mounting precautions POINT During assembling, the shaft end must not be hammered. Doing so can cause the encoder to fail. www.DataSheet4U.com (1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end.
  • Page 215 14. SERVO MOTOR 14.4.4 Permissible load for the shaft POINT Do not use a rigid coupling as it may apply excessive bending load to the shaft, leading to shaft breakage. (a) Use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible radial load.
  • Page 216 14. SERVO MOTOR 2) Precision application-compliant HC-KFE13(B) HC-KFE23(B) HC-KFE43(B) HC-KFE73(B) Gear Item ratio 1/20 1040 1/29 1190 Permissible Radial Load [lb] 1/20 1/29 www.DataSheet4U.com 1/20 1140 1/29 1010 1290 Permissible Thrust Load [lb] 1/20 1/29 (b) HC-SFE (2000r/min) series 1) General industrial machine-compliant Gear HC-SFE52(B) HC-SFE102(B)
  • Page 217 14. SERVO MOTOR 2) Precision application-compliant Gear HC-SFE52(B) HC-SFE102(B) HC-SFE152(B) HC-SFE202(B) Item ratio 1666 1960 1960 1/20 1274 2646 2646 6076 1/29 2940 2940 6860 6860 Permissible 1/45 3430 8036 8036 8036 Radial Load [lb] 1/20 1366 www.DataSheet4U.com 1/29 1542 1542 1/45 1807...
  • Page 218 14. SERVO MOTOR 14.4.5 Protection from oil and water (1) Next, the servo motor is not waterproof (IP44). Do not subject the servo motor to oil and water. Especially for the HC-KFE series, do not subject the shaft-through portion to oil. Servo Motor Series Protection HC-KFE...
  • Page 219 14. SERVO MOTOR (4) Do not use the servo motor with its cable soaked in oil or water. (Figure on the right) Cover Servo motor Oil/water pool www.DataSheet4U.com <Incorrect> Capillary phenomenon (5) When the servo motor is to be installed with the shaft end at top, provide measures so that it is not exposed to oil and water entering from the machine side, gear box, etc.
  • Page 220 14. SERVO MOTOR 14.5. Connectors used for servo motor wiring This section gives connector makeups on an operating environment basis. Use the models of the manufacturers given or equivalent. 14.5.1 HC-KFE series Use the connectors indicated in this section or equivalent for connection of the power supply, electromagnetic brake and encoder.
  • Page 221 14. SERVO MOTOR 3) For connection of brake 2) Connector for cable 1) Plug Cable Cable 1) Plug 2) Connector for cable Connector 2) Connector for Cable 1) Plug Servo Motor Supplied for Servo Cable (DDK) Type Maker Model Motor 4 to 8 ACS-08RL-MS10F Nippon...
  • Page 222 14. SERVO MOTOR 2) For connection of encoder 2) Connector for 1) Plug Conduit conduit Conduit 1) Plug 2) Connector for conduit Connector 2) Connector for conduit Conduit 1) Plug Servo Motor Supplied for (DDK) Type Maker Size Model Model www.DataSheet4U.com Servo Motor RCC-104RL-MS20F...
  • Page 223 14. SERVO MOTOR (2) Waterproof (IP65), EN Standard, UL/C-UL Standard-compliant (a) When using cabtyre cables 1) For connection of power supply 2) Cable 2) Cable clamp clamp 1) Plug Cable 1) Plug Cable Connector 2) Cable clamp 1) Plug (DDK) (DDK) Servo Motor Supplied for...
  • Page 224 14. SERVO MOTOR (b) When using flexible conduits 1) For connection of power supply 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Connector 2) Connector for conduit Conduit 1) Plug www.DataSheet4U.com Servo Motor Supplied for (DDK) Type Maker...
  • Page 225 14. SERVO MOTOR 2) For connection of encoder 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Connector 2) Connector for conduit Conduit 1) Plug Servo Motor Supplied for (DDK) Type Maker Size Model Model www.DataSheet4U.com Servo Motor RCC-104RL-MS20F...
  • Page 226 14. SERVO MOTOR 14.6 Specifications 14.6.1 Standard specifications Servo Motor HA-KFE Series (Low inertia, small capacity) Item Applicable servo MR-E- A amplifier/drive unit Rated output [kW] 0.75 (Note 14) (Note 14) (Note 14) [N m] (Note 1,11) 0.32 0.64 Rated Continuous duty torque (Note 14)
  • Page 227 14. SERVO MOTOR HC-SFE Series Servo Motor (Middle inertia, middle capacity) Item Applicable servo MR-E- A amplifier/drive unit Rated output [kW] (Note 1,11) Continuous [N m] 2.39 4.78 7.16 9.55 Rated duty torque [oz in] 1015 1353 (Note 1) Rated speed [r/min] 2000 Maximum speed...
  • Page 228 14. SERVO MOTOR 14.6.2 Torque characteristics POINT For machines which produce unbalance torque, e.g. vertical lift applications, it is recommended to use the servo motor so that the unbalance torque will be within 70% of the rated torque. (1) HC-KFE series [HC-KFE43] [HC-KFE73] [HC-KFE13]...
  • Page 229 14. SERVO MOTOR 14.6.3 Servo motors with reduction gears The servo motor with reduction gear must be installed in the specified direction. Otherwise , it can leak oil, leading to a fire or fault. CAUTION For the servo motor with reduction gear, transport it in the same status as in the installation method.
  • Page 230 14. SERVO MOTOR (3) HC-SFE series For General Industrial Machines For Precision Applications Reduction Gear Series HC-SFE G1(H) HC-SFE G2 Mounting method As in (a) in this section Flange mounting Mounting direction As in (a) in this section In any directions As in (a)(b) in this section Grease lubrication (Already packed) Lubrication...
  • Page 231 14. SERVO MOTOR (b) Recommended lubricants 1) Grease Albania Grease/Shell OIL 2) Lubricating oil Ambient NISSEKI IDEMITSU GENERAL Shell Japan Temperature COSMO OIL MITSUBISHI KOSAN ESSO OIL Mobil OIL Energy CO., LTD 10 to 5 COSMO BONNOC DAPHNE CE Omala SPARTANEP Mobilgear JOMO.
  • Page 232 14. SERVO MOTOR 14.6.4 Servo motors with special shafts The standard shaft of the servo motor is straight without a keyway. Shafts with keyway and D cut are also available. Except for the servo motor with reduction gear. These shafts are not appropriate for applications where the servo motor is started and stopped frequently. Use a friction coupling or the like with such keys since we cannot guarantee such trouble as broken shafts due to loose keys.
  • Page 233 14. SERVO MOTOR 14.7 Characteristics 14.7.1 Electromagnetic brake characteristics Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. CAUTION Refer to Section 3.9 for details. The electromagnetic brake is designed to hold a load.
  • Page 234 14. SERVO MOTOR (2) Electromagnetic brake power supply Prepare the following power supply for use with the electromagnetic brake only. Electromagnetic brake Switch : Surge absorber 24VDC The surge absorber must be installed across B1-B2. For the selection of the surge absorber, refer to section 13.2.5.
  • Page 235 14. SERVO MOTOR 14.7.2 Vibration rank The vibration rank of the servo motor is V-10 at the rated speed. Measure vibration in the following position with the servo motor installed as shown below. Servo motor Measuring position www.DataSheet4U.com Bottom Servo Motor Vibration Measuring Conditions 14.7.3 Machine Accuracies The following table indicates the machine accuracies of the servo motor around the output shaft and...
  • Page 236 14. SERVO MOTOR 14.8 Outline dimension drawing 14.8.1 HC-KFE series (1) Standard (without electromagnetic brake, without reduction gear) Output Inertia Moment Weight Model J[ 10 kg m [kg] HC-KFE13 0.084 0.53 (Note)[Unit: mm] 96.5 40.5 Motor plate (Opposite side) 2- 4.5 21.5 www.DataSheet4U.com Motor plate...
  • Page 237 14. SERVO MOTOR Output Inertia Moment Weight Model J[ 10 kg m [kg] HC-KFE73 1.51 (Note)[Unit: mm] 4- 6.6 Motor plate (Opposite side) TUV plate Motor plate Bottom Bottom Bottom Bottom Power supply Caution plate www.DataSheet4U.com 86.7 connector pin 25.2 connection list Power supply lead 4-AWG19 0.3m Pin No.
  • Page 238 14. SERVO MOTOR Variable Dimensions Inertia Moment Output Braking Force Weight Model J[ 10 kg m [N m] [kg] HC-KFE23B 131.5 49.1 0.47 HC- KFE43B 156.5 72.1 0.72 (Note)[Unit: mm] Motor plate 4- 5.8 (Opposite side) TUV plate Motor plate Bottom Bottom Bottom...
  • Page 239 14. SERVO MOTOR 14.8.2 HC-SFE series (1) Standard (without electromagnetic brake, without reduction gear) Variable dimensions Output Inertia Moment Weight Model [kW] J[ 10 kg m [kg] HC-SFE52 150.5 51.5 HC-SFE102 175.5 76.5 13.8 HC-SFE152 200.5 101.5 20.1 (Note)[Unit: mm] 4- 9 mounting hole Use hexagon socket Motor plate...
  • Page 240 14. SERVO MOTOR (2) With electromagnetic brake Output Variable dimensions Braking Force Inertia Moment Weight Model [kW] [N m] J[ 10 kg m [kg] HC-SFE52B 183.5 51.5 HC-SFE102B 208.5 76.5 15.8 HC-SFE152B 233.5 101.5 22.1 11.5 (Note)[Unit: mm] 4- 9 mounting hole Use hexagon socket head cap screw.
  • Page 241 14. SERVO MOTOR 14.9 Outline dimension drawing (in inches) POINT The values in yards/pounds are reference values. 14.9.1 HC-KFE series (1) Standard (without electromagnetic brake, without reduction gear) Output Inertia Moment Weight Model [oz in [lb] HC-KFE13 0.459 1.17 [Unit: in] www.DataSheet4U.com 3.70 0.984...
  • Page 242 14. SERVO MOTOR Output Inertia Moment Weight Model [oz in [lb] HC-KFE73 8.256 6.614 [Unit: in] 3.228 5.591 3.150 1.575 4- 0.260 0.315 0.118 1.535 Motor plate (Opposite side) 0.106 TUV plate Motor plate Bottom Bottom Bottom Bottom Power supply Caution plate 3.413 connector pin...
  • Page 243 14. SERVO MOTOR Output Variable Dimensions [in] Braking Force Inertia Moment Weight Model [oz in] [oz in [lb] HC-KFE23B 5.177 1.933 184.096 2.57 3.527 HC-KFE43B 6.161 2.839 184.096 3.937 4.63 [Unit: in] 1.181 2.362 0.276 0.118 1.614 Motor plate 4- 0.228 2.441 (Opposite side) 0.106...
  • Page 244 14. SERVO MOTOR 14.9.2 HC-SFE series (1) Standard (without electromagnetic brake, without reduction gear) Variable Dimensions [in] Output Inertia Moment Weight Model [kW] [oz in [lb] HC-SFE52 5.925 2.028 36.632 12.125 HC-SFE102 6.909 3.012 75.451 16.535 HC-SFE152 7.894 3.996 109.896 20.944 [Unit: in] 2.165...
  • Page 245 14. SERVO MOTOR (2) With electromagnetic brake Output Variable dimensions [in] Braking Force Inertia Moment Weight Model [kW] [oz in] [oz in [lb] HC-SFE52B 7.224 2.028 1175.382 47.567 16.535 HC-SFE102B 8.209 3.012 1175.382 86.386 20.944 HC-SFE152B 9.193 3.996 1175.382 120.831 25.353 [Unit: in] 4- 0.354 mounting hole...
  • Page 246 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT POINT In this chapter, difference of the operation of MR-E- AG from that of MR-E- A is described. For description not given in this Chapter, refer to Chapters 1 through 14.
  • Page 247 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.1.2 Function block diagram The function block diagram of this servo is shown below. Regenerative brake option (Note 3) Servo amplifier Servo motor (Note 3) (Note3) (Note 1) (Note 2) Power supply Current Regenerative...
  • Page 248 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.1.3 Servo amplifier standard specifications Servo Amplifier MR-E- 10AG 20AG 40AG 70AG 100AG 200AG Item 3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 3-phase 200 to 230VAC, Voltage/frequency 50/60Hz 50/60Hz 3-phase 200 to 230VAC: Permissible voltage fluctuation 170 to 253VAC 3-phase 170 to 253VAC...
  • Page 249 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.1.4 Model code definition MR-E-40AG or less MR-E-70AG, 100AG MR-E-200AG MR - E Series Analog input Rated output Symbol Rated output [W] Symbol Rated output [W] 1000 2000 Rating plate www.DataSheet4U.com Rating plate Rating plate 15.1.5 Parts identification (1) MR-E-100AG or less...
  • Page 250 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) MR-E-200AG Name/Application Refer to Display Section15.5 The 5-digit, seven-segment LED shows the servo status and alarm number. Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. www.DataSheet4U.com DOWN MODE...
  • Page 251 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.1.6 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box.
  • Page 252 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) MR-E-200AG Options and auxiliary equipment Refer to Options and auxiliary equipment Refer to 3-phase 200V No-fuse breaker Regenerative option Section 13.1.1 Section 13.2.2 to 230VAC power supply Magnetic contactor Cables Section 13.2.1 Section 13.2.2 Servo configuration software...
  • Page 253 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.2. Signals and wiring 15.2.1 Standard connection example (1) Speed control mode Servo amplifier (Note 8) (Note 2, 4) Trouble (Note 10) (Note 6) External power Zero speed supply www.DataSheet4U.com 24VDC Speed reached 10m (32ft) or less Ready...
  • Page 254 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.
  • Page 255 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) Torque control mode Servo amplifier (Note 8) (Note 2, 4) Trouble (Note 10) (Note 6) External Zero speed power supply 24VDC 10m (32ft) or less Ready (Note 8) (Note 3, 5) Emergency stop Encoder Z-phase pulse www.DataSheet4U.com Servo-on...
  • Page 256 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.2.2 Internal connection diagram of servo amplifier The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode. Servo amplifier (Note) (Note) Approx.
  • Page 257 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.2.3 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to the next page for CN1 signal assignment. (1) Signal arrangement www.DataSheet4U.com MODE MITSUBISHI...
  • Page 258 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) CN1 signal assignment The signal assignment of connector changes with the control mode as indicated below; For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters.
  • Page 259 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.2.4 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.6.2. In the control mode field of the table S: speed control mode, T: Torque control mode : Denotes that the signal may be used in the initial setting status.
  • Page 260 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Control Connec- mode Signal Symbol tor pin Functions/Applications division Forward rotation Used to start the servo motor in any of the following directions: DI-1 start (Note) Input signals Servo motor starting direction Stop (servo lock) Reverse rotation start...
  • Page 261 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Control Connec- mode Signal Symbol tor pin Functions/Applications division Servo-on CN1-4 Same as MR-E- A. (Refer to (1) in Section 3.3.2) DI-1 Reset DI-1 Proportion DI-1 control Emergency stop CN1-8 DI-1 Gain changing DI-1 Analog torque...
  • Page 262 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) Output signals Control Connec- mode Signal Symbol tor pin Functions/Applications division Speed reached SA-SG are connected when the servo motor speed has nearly DO-1 reached the preset speed. When the preset speed is 50r/min or less, SA-SG are kept connected.
  • Page 263 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.2.5 Detailed description of the signals (1) Speed control mode (a) Speed setting 1) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC).
  • Page 264 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 2) Speed selection 1 (SP1), speed selection 2 (SP2), speed selection 3 (SP3) and speed command value By making speed selection 1 (SP1), speed selection 2 (SP2) and speed selection 3 (SP3) usable by setting of parameter No.
  • Page 265 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (c) Torque limit 1) Torque limit and torque By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below.
  • Page 266 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) Torque control mode (a) Torque control 1) Torque command and torque A relationship between the applied voltage of the analog torque command (TC) and the torque by the servo motor is shown below. The maximum torque is generated at 8V.
  • Page 267 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 2) Analog torque command offset Using parameter No. 30, the offset voltage of 999 to 999mV can be added to the TC applied voltage as shown below. Max. torque Parameter No.30 offset range 999 to 999mV www.DataSheet4U.com 8( 8)
  • Page 268 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 2) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the analog speed limit command (VLA), as indicated below.
  • Page 269 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (3) Speed/torque control change mode Set "0003" in parameter No. 0 to switch to the speed/torque control change mode. (a) Control change (LOP) Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact.
  • Page 270 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.3 Startup Do not operate the switches with wet hands. You may get an electric shock. WARNING Before starting operation, check the parameters. Some machines may perform unexpected operation. CAUTION During power-on for some after power-off, do not touch or close a parts (cable etc.) to the servo amplifier heat sink, regenerative brake resistor, the servo motor, etc.
  • Page 271 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (4) Servo-on Switch the servo-on in the following procedure: 1) Switch on power supply. 2) Switch on the servo-on (SON). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
  • Page 272 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.3.2 Torque control mode (1) Power on 1) Switch off the servo-on (SON). 2) When power is switched on, the display shows "U (torque command voltage)", and in two second later, shows data. (2) Test operation Using jog operation in the test operation mode, make sure that the servo motor operates.
  • Page 273 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (6) Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. (a) Servo-on (SON) OFF The base circuit is shut off and the servo motor coasts.
  • Page 274 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.4 Parameters POINT Before changing the settings of parameters No. 20 through 84, cancel write protection while referring to Section 5.1.1. For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.
  • Page 275 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Control Initial Customer No. Symbol Name Unit mode value setting *OP2 Function selection 2 0000 For manufacturer setting 0000 *OP4 Function selection 4 0000 For manufacturer setting Zero speed r/min Analog speed command maximum speed (r/min) (Note3)0 Analog speed limit maximum speed...
  • Page 276 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Control Initial Customer No. Symbol Name Unit mode value setting *CDP Gain changing selection 0000 Gain changing condition (Note 2) Gain changing time constant For manufacturer setting Internal speed command 4 r/min Internal speed limit 4 www.DataSheet4U.com...
  • Page 277 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.4.2 Details list Initial Setting Control Class No. Symbol Name and function Unit value range mode *STY Control mode, regenerative brake option selection 100W Refer to Used to select the control mode and regenerative brake option. : 0000 Name 200W...
  • Page 278 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode Auto tuning 0105 Refer to Used to selection the response level, etc. for execution of auto tuning. Name Refer to Chapter 7.
  • Page 279 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode Internal speed command 1 r/min 0 to Used to set speed 1 of internal speed commands. instan- taneous Internal speed limit 1 permi- Used to set speed 1 of internal speed limits.
  • Page 280 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode Torque command time constant Used to set the constant of a low pass filter in response to the torque 20000 command.
  • Page 281 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode Analog monitor output 0100 Refer to Used to selection the signal provided to the analog monitor Name (MO1) analog monitor (MO2) output. (Refer to Section 5.2.2) function column.
  • Page 282 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode *BLK Parameter block 0000 Refer to Used to select the reference and write ranges of the parameters. Name Operation can be performed for the parameters marked function Basic...
  • Page 283 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode *OP2 Function selection 2 0000 Refer to Used to select restart after instantaneous power failure, Name servo lock at a stop in speed control mode, and slight vibration suppression control.
  • Page 284 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode *OP4 Function selection 4 0000 Refer to Used to select stop processing at forward rotation stroke end (LSP) Name reverse rotation stroke end (LSN) off, choose TLC/VLC output and choose VC/VLA voltage averaging.
  • Page 285 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode *ENR Encoder output pulses 4000 pulse/ Used to set the encoder pulses (A-phase or B-phase) output by the servo amplifier.
  • Page 286 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode Analog torque command offset Used to set the offset voltage of the analog torque command (TC). Analog torque limit offset Used to set the offset voltage of the analog torque limit (TLA).
  • Page 287 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode *DIA Input signal automatic ON selection 0000 Refer to Used to set automatic servo-on (SON) forward rotation stroke end Name (LSP) reverse rotation stroke end (LSN).
  • Page 288 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode *DI2 Input signal selection 2 (CN1-4) 0111 Refer to Allows any input signal to be assigned to CN1-pin 4. Name Note that the setting digit and assigned signal differ according to the control mode.
  • Page 289 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode *DI3 Input signal selection 3 (CN1-3) 0882 Refer to Allows any input signal to be assigned to CN1-pin 3. Name The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
  • Page 290 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode Input signal selection 6 (CN1-7) *DI6 0000 Refer to Allows any input signal to be assigned to CN1-pin 7. Name The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
  • Page 291 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode *DO1 Output signal selection 1 0000 Refer to Used to select the connector pins to output the alarm code and Name warning (WNG).
  • Page 292 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode For manufacturer setting 0000 Don’t change this value by any means. *OP6 Function selection 6 0000 Refer to Used to select the operation to be performed when the reset (RES) Name switches on.
  • Page 293 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode Machine resonance suppression filter 1 0000 Refer to Used to selection the machine resonance suppression filter. Name (Refer to Section 8.2.) function column.
  • Page 294 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode Low-pass filter/adaptive vibration suppression control 0000 Refer to Used to selection the low-pass filter and adaptive vibration Name suppression control.
  • Page 295 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode *CDP Gain changing selection 0000 Refer to Used to select the gain changing condition. (Refer to Section 8.5.) Name function column.
  • Page 296 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Initial Setting Control Class No. Symbol Name and function Unit value range mode Internal torque limit 2 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%]. When 0 is set, torque is not produced.
  • Page 297 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT button MODE Expansion Expansion Basic Status display Diagnosis Alarm parameters parameters 1 parameters 2 Cumulative feedback Sequence Current alarm Parameter No. 0 Parameter No. 20 Parameter No. 50 pulses [pulse] (Note) Motor speed External I/O Last alarm...
  • Page 298 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.5.2 Status display (1) Status display list The following table lists the servo statuses that may be shown: Display Name Symbol Unit Description range Cumulative feedback pulse Feedback pulses from the servo motor encoder are counted and 99999 pulses displayed.
  • Page 299 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) Changing the status display screen The status display item of the servo amplifier display shown at power-on can be changed by changing the parameter No. 18 settings. The item displayed in the initial status changes with the control mode as follows: Control mode Status display at power-on Speed...
  • Page 300 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.5.3 Diagnostic mode Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.
  • Page 301 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT Name Display Description Press the "SET" button to show the motor series ID of the servo Motor series motor currently connected. Press the "SET" button to show the motor type ID of the servo Motor type motor currently connected.
  • Page 302 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.5.4 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP once.
  • Page 303 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (3) Default signal indications (a) Speed control mode EMG (CN 1-8) Emergency stop LSN (CN 1-7) Reverse rotation stroke end LSP (CN 1-6) Forward rotation stroke end ST2 (CN 1-5) Reverse rotation start ST1 (CN 1-3) Forward rotation start SON (CN 1-4) Servo-on Input signals...
  • Page 304 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.6. Troubleshooting 15.6.1 Trouble at start-up The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. (1) Speed control mode Start-up sequence Fault Investigation Possible cause Reference Power on (Note)
  • Page 305 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT (2) Torque control mode Start-up sequence Fault Investigation Possible cause Reference Power on (Note) LED is not lit. Not improved if connectors 1. Power supply voltage fault LED flickers. CN1, CN2 and CN3 are 2.
  • Page 306 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15.6.2 Alarms and warning list POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (SON) signal at occurrence of an alarm. When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 10.2.2 or 10.2.3 and take the appropriate action.
  • Page 307 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT MEMO www.DataSheet4U.com 15 - 62...
  • Page 308 REVISIONS *The manual number is given on the bottom left of the back cover. Print data *Manual number Revision Sep.,2002 SH(NA)030031-A First edition Mar.,2003 SH(NA)030031-B "Note 2" in (1) Environmental Condition is deleted from Safety Precautions 4. The "concerning sale" item is deleted. The "Compliance with EU Directives (2)"...
  • Page 309 Print data *Manual number Revision Mar.,2003 SH(NA)030031-B Chapter 14: Point is deleted. Section 14.2: Rating plate is changed. Section 14.7.3: Added. Chapter 15: Added. www.DataSheet4U.com...
  • Page 310 www.DataSheet4U.com MODEL MODEL CODE HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030031-B (0303) MEE Printed in Japan Specifications subject to change without notice.

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