Mitsubishi Electric MR-JE-_C SERVO AMPLIFIER Instruction Manual

MODEL

MODEL

CODE

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH(NA)030257ENG-C(1810)MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications are subject to change without notice.

General-Purpose AC Servo

Ethernet Interface

MODEL

MR-JE-_C

SERVO AMPLIFIER

INSTRUCTION MANUAL

C

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

Note that the CAUTION level may lead to a serious consequence according to conditions.

Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".

After reading this Instruction Manual, keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock.

Do not operate switches with wet hands. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.

To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.

To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire.

Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a molded-case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.

When you use a regenerative option with an MR-JE-40C to MR-JE-100C, remove the built-in regenerative resistor and wiring from the servo amplifier.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal.

Otherwise, an electric shock, fire, injury, etc. may occur.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.

The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

A - 2

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.

Stacking in excess of the specified number of product packages is not allowed.

Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop.

Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction

Manual.

Do not get on or put heavy load on the product. Otherwise, it may cause injury.

The equipment must be installed in the specified direction.

Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.

Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing.

Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.

Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury, malfunction, etc. may occur.

Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur.

When you keep or use the equipment, please fulfill the following environment.

Item

Ambient temperature

Operation

Storage

Ambient humidity

Operation

Storage

Ambience

Altitude

Vibration resistance

Environment

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

5 %RH to 90 %RH (non-condensing)

Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

2000 m or less above sea level (Contact your local sales office for the altitude for options.)

5.9 m/s 2 , at 10 Hz to 55 Hz (directions of X, Y and Z axes)

When the product has been stored for an extended period of time, contact your local sales office.

When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier.

The servo amplifier must be installed in a metal cabinet.

When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.

A - 3

(2) Wiring

CAUTION

Before removing the CNP1 connector of MR-JE-40C to MR-JE-100C, disconnect the lead wires of the regenerative resistor from the CNP1 connector.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.

Otherwise, the cables and connectors may be disconnected during operation.

Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier output side.

To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor.

Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Servo motor

V

W

M

Servo amplifier

U

V

W

U

Servo motor

V

W

M

The connection diagrams in this instruction manual are shown for sink interfaces, unless stated otherwise.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier Servo amplifier

24 V DC 24 V DC

DOCOM DOCOM

Control output signal

For sink output interface

RA


For source output interface

RA

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected restart of the servo amplifier.

To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

(3) Test run and adjustment

CAUTION

When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.

Before operation, check the parameter settings. Improper settings may cause some machines to operate unexpectedly.

A - 4

CAUTION

Never adjust or change the parameter values extremely as it will make operation unstable.

Do not get close to moving parts during the servo-on status.

(4) Usage

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition.

For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision.

Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may occur. Disassembled, repaired, and/or modified products are not covered under warranty.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident.

Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.

Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.

Use the servo amplifier with the specified servo motor.

Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric shock, fire, injury, etc. may occur.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.

For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft.

To ensure safety, install a stopper on the machine side.

If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident.

If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.

If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.

Otherwise, it may cause smoke, fire, or an electric shock.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A - 5

CAUTION

Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM

(Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

RA

B 24 V DC

U

Electromagnetic brake

To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters, ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before switching the power on.

(6) Maintenance, inspection and parts replacement

CAUTION

Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.

When using a servo amplifier whose power has not been turned on for a long time, contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

A - 6

DISPOSAL OF WASTE

Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the

EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes

Write to the EEP-ROM due to device changes

Compliance with global standards

For the compliance with global standards, refer to app. 3.

«About the manual»

You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely.

Relevant manuals

Manual name

MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)

MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode)

MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Positioning Mode)

MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Network)

MELSERVO HG-KN/HG-SN Servo Motor Instruction Manual

MELSERVO EMC Installation Guidelines

«Cables used for wiring»

Manual No.

SH(NA)030166ENG

SH(NA)030254ENG

SH(NA)030277ENG

SH(NA)030256ENG

SH(NA)030135ENG

IB(NA)67310ENG

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity

Mass

Length

Torque

Moment of inertia

Load (thrust load/axial load)

Temperature

SI (metric) unit

1 [kg]

1 [mm]

1 [N•m]

1 [(× 10 -4 kg•m 2

1 [N]

)]

N [°C] × 9/5 + 32

U.S. customary unit

2.2046 [lb]

0.03937 [inch]

141.6 [oz•inch]

5.4675 [oz•inch 2

0.2248 [lbf]

]

N [°F]

A - 7

MEMO

A - 8

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-16

1.1 Summary ........................................................................................................................................... 1- 1

1.2 Function block diagram ..................................................................................................................... 1- 2

1.3 Servo amplifier standard specifications ............................................................................................ 1- 4

1.4 Combinations of servo amplifiers and servo motors ........................................................................ 1- 5

1.5 Function list ....................................................................................................................................... 1- 6

1.6 Model designation ............................................................................................................................ 1-10

1.7 Structure .......................................................................................................................................... 1-11

1.7.1 Parts identification ..................................................................................................................... 1-11

1.8 Configuration including peripheral equipment ................................................................................. 1-13

2. INSTALLATION 2- 1 to 2- 6

2.1 Installation direction and clearances ................................................................................................ 2- 2

2.2 Keep out foreign materials ................................................................................................................ 2- 3

2.3 Encoder cable stress ........................................................................................................................ 2- 4

2.4 Inspection items ................................................................................................................................ 2- 4

2.5 Parts having service life .................................................................................................................... 2- 5

2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level ................................................................................................................................. 2- 6

3. SIGNALS AND WIRING 3- 1 to 3-66

3.1 Input power supply circuit ................................................................................................................. 3- 2

3.2 I/O signal connection example .......................................................................................................... 3- 7

3.2.1 Position control mode ................................................................................................................. 3- 7

3.2.2 Speed control mode .................................................................................................................. 3-12

3.2.3 Torque control mode ................................................................................................................. 3-15

3.3 Explanation of power supply system ............................................................................................... 3-18

3.3.1 Signal explanations ................................................................................................................... 3-18

3.3.2 Power-on sequence .................................................................................................................. 3-19

3.3.3 Wiring CNP1.............................................................................................................................. 3-20

3.4 Connectors and pin assignment ...................................................................................................... 3-22

3.5 Signal (device) explanations ............................................................................................................ 3-24

3.6 Detailed explanation of signals ........................................................................................................ 3-33

3.6.1 Position control mode ................................................................................................................ 3-33

3.6.2 Speed control mode .................................................................................................................. 3-38

3.6.3 Torque control mode ................................................................................................................. 3-41

3.6.4 Position/speed control switching mode ..................................................................................... 3-43

3.6.5 Speed/torque control switching mode ....................................................................................... 3-45

3.6.6 Torque/position control switching mode.................................................................................... 3-47

3.7 Forced stop deceleration function ................................................................................................... 3-48

3.7.1 Forced stop deceleration function ............................................................................................. 3-48

3.7.2 Base circuit shut-off delay time function ................................................................................... 3-50

3.7.3 Vertical axis freefall prevention function ................................................................................... 3-51

3.7.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-51

3.8 Alarm occurrence timing chart ......................................................................................................... 3-52

3.8.1 When you use the forced stop deceleration function ................................................................ 3-52

1

3.8.2 When you do not use the forced stop deceleration function ..................................................... 3-53

3.9 Interfaces ......................................................................................................................................... 3-54

3.9.1 Internal connection diagram ...................................................................................................... 3-54

3.9.2 Detailed explanation of interfaces ............................................................................................. 3-56

3.9.3 Source I/O interfaces ................................................................................................................ 3-59

3.10 Servo motor with an electromagnetic brake .................................................................................. 3-60

3.10.1 Safety precautions .................................................................................................................. 3-60

3.10.2 Timing chart ............................................................................................................................ 3-62

3.11 Grounding ...................................................................................................................................... 3-66

4. STARTUP 4- 1 to 4-26

4.1 Switching power on for the first time ................................................................................................. 4- 2

4.1.1 Startup procedure ...................................................................................................................... 4- 2

4.1.2 Wiring check ............................................................................................................................... 4- 3

4.1.3 Surrounding environment ........................................................................................................... 4- 4

4.2 Startup in position control mode ....................................................................................................... 4- 5

4.2.1 Power on and off procedures ..................................................................................................... 4- 5

4.2.2 Stop ............................................................................................................................................ 4- 5

4.2.3 Test operation ............................................................................................................................ 4- 6

4.2.4 Parameter setting ....................................................................................................................... 4- 7

4.2.5 Actual operation ......................................................................................................................... 4- 7

4.2.6 Trouble at start-up ...................................................................................................................... 4- 8

4.3 Startup in speed control mode ......................................................................................................... 4-10

4.3.1 Power on and off procedures .................................................................................................... 4-10

4.3.2 Stop ........................................................................................................................................... 4-10

4.3.3 Test operation ........................................................................................................................... 4-11

4.3.4 Parameter setting ...................................................................................................................... 4-12

4.3.5 Actual operation ........................................................................................................................ 4-13

4.3.6 Trouble at start-up ..................................................................................................................... 4-13

4.4 Startup in torque control mode ........................................................................................................ 4-14

4.4.1 Power on and off procedures .................................................................................................... 4-14

4.4.2 Stop ........................................................................................................................................... 4-14

4.4.3 Test operation ........................................................................................................................... 4-15

4.4.4 Parameter setting ...................................................................................................................... 4-16

4.4.5 Actual operation ........................................................................................................................ 4-16

4.4.6 Trouble at start-up ..................................................................................................................... 4-17

4.5 Display and operation sections ........................................................................................................ 4-18

4.5.1 Summary ................................................................................................................................... 4-18

4.5.2 Scrolling display ........................................................................................................................ 4-19

4.5.3 Status display mode .................................................................................................................. 4-20

4.5.4 Ethernet status display LED ...................................................................................................... 4-21

4.6 Test operation .................................................................................................................................. 4-22

4.7 Test operation mode ........................................................................................................................ 4-22

4.7.1 Test operation mode in MR Configurator2 ................................................................................ 4-23

4.7.2 Motor-less operation in the controller ........................................................................................ 4-25

5. PARAMETERS 5- 1 to 5-48

5.1 Parameter list .................................................................................................................................... 5- 1

5.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 5- 2

2

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 2

5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 4

5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 5

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 5- 7

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 5- 8

5.1.7 Network setting parameters ([Pr. PN_ _ ]) ................................................................................. 5- 9

5.2 Detailed list of parameters ............................................................................................................... 5-10

5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 5-10

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-19

5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-31

5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-39

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 5-46

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-47

6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-28

6.1 Different adjustment methods ........................................................................................................... 6- 1

6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1

6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2

6.2 One-touch tuning .............................................................................................................................. 6- 3

6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 5

6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 7

6.2.3 Caution for one-touch tuning ..................................................................................................... 6-18

6.3 Auto tuning ....................................................................................................................................... 6-19

6.3.1 Auto tuning mode ...................................................................................................................... 6-19

6.3.2 Auto tuning mode basis ............................................................................................................. 6-20

6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-21

6.3.4 Response level setting in auto tuning mode ............................................................................. 6-22

6.4 Manual mode ................................................................................................................................... 6-23

6.5 2 gain adjustment mode .................................................................................................................. 6-27

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-30

7.1 Filter setting ...................................................................................................................................... 7- 1

7.1.1 Machine resonance suppression filter ....................................................................................... 7- 1

7.1.2 Adaptive filter II ........................................................................................................................... 7- 4

7.1.3 Shaft resonance suppression filter ............................................................................................. 7- 7

7.1.4 Low-pass filter ............................................................................................................................ 7- 8

7.1.5 Advanced vibration suppression control II ................................................................................. 7- 8

7.1.6 Command notch filter ................................................................................................................ 7-13

7.2 Gain switching function .................................................................................................................... 7-14

7.2.1 Applications ............................................................................................................................... 7-14

7.2.2 Function block diagram ............................................................................................................. 7-15

7.2.3 Parameter .................................................................................................................................. 7-16

7.2.4 Gain switching procedure ......................................................................................................... 7-18

7.3 Tough drive function ........................................................................................................................ 7-22

7.3.1 Vibration tough drive function.................................................................................................... 7-22

7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-24

7.4 Model adaptive control disabled ...................................................................................................... 7-27

7.5 Lost motion compensation function ................................................................................................. 7-28

3

8. TROUBLESHOOTING 8- 1 to 8- 8

8.1 Explanation for the lists ..................................................................................................................... 8- 1

8.2 Alarm list ........................................................................................................................................... 8- 2

8.3 Warning list ....................................................................................................................................... 8- 6

9. DIMENSIONS 9- 1 to 9- 6

9.1 Servo amplifier .................................................................................................................................. 9- 1

9.2 Connector ......................................................................................................................................... 9- 4

10. CHARACTERISTICS 10- 1 to 10- 8

10.1 Overload protection characteristics .............................................................................................. 10- 1

10.2 Power supply capacity and generated loss .................................................................................. 10- 2

10.3 Dynamic brake characteristics ...................................................................................................... 10- 4

10.3.1 Dynamic brake operation ....................................................................................................... 10- 5

10.3.2 Permissible load to motor inertia when the dynamic brake is used ....................................... 10- 6

10.4 Cable bending life ......................................................................................................................... 10- 6

10.5 Inrush current at power-on ........................................................................................................... 10- 7

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-48

11.1 Cable/connector sets .................................................................................................................... 11- 1

11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2

11.1.2 Battery cable/junction battery cable ....................................................................................... 11- 4

11.1.3 Ethernet cable ........................................................................................................................ 11- 5

11.2 Regenerative option ...................................................................................................................... 11- 5

11.2.1 Combination and regenerative power .................................................................................... 11- 5

11.2.2 Selection of regenerative option ............................................................................................ 11- 6

11.2.3 Parameter setting ................................................................................................................... 11- 8

11.2.4 Connection of regenerative option ......................................................................................... 11- 8

11.2.5 Dimensions ........................................................................................................................... 11-12

11.3 Junction terminal block MR-TB26A ............................................................................................. 11-14

11.4 MR Configurator2 ........................................................................................................................ 11-16

11.4.1 Specifications ........................................................................................................................ 11-16

11.4.2 System requirements ............................................................................................................ 11-17

11.4.3 Precautions for using USB and Ethernet communication functions ..................................... 11-19

11.5 Battery .......................................................................................................................................... 11-20

11.5.1 Selection of battery ............................................................................................................... 11-20

11.5.2 MR-BAT6V1SET-A battery ................................................................................................... 11-21

11.5.3 MR-BT6VCASE battery case ................................................................................................ 11-25

11.5.4 MR-BAT6V1 battery .............................................................................................................. 11-31

11.6 Selection example of wires .......................................................................................................... 11-32

11.7 Molded-case circuit breakers, fuses, magnetic contactors ......................................................... 11-33

11.8 Power factor improving AC reactor .............................................................................................. 11-34

11.9 Relay (recommended) ................................................................................................................. 11-35

11.10 Noise reduction techniques ....................................................................................................... 11-36

11.11 Earth-leakage current breaker ................................................................................................... 11-44

11.12 EMC filter (recommended) ........................................................................................................ 11-46

4

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12-10

12.1 Summary ....................................................................................................................................... 12- 1

12.1.1 Features ................................................................................................................................. 12- 1

12.1.2 Restrictions ............................................................................................................................ 12- 2

12.1.3 Structure ................................................................................................................................. 12- 2

12.1.4 Parameter setting ................................................................................................................... 12- 3

12.1.5 Confirmation of absolute position detection data ................................................................... 12- 3

12.2 Battery ........................................................................................................................................... 12- 4

12.2.1 Using the MR-BAT6V1SET-A battery .................................................................................... 12- 4

12.2.2 Using the MR-BT6VCASE battery case................................................................................. 12- 5

12.3 Communication-based absolute position transfer system ............................................................ 12- 6

12.3.1 Communication command ..................................................................................................... 12- 6

12.3.2 Absolute position data transfer protocol ................................................................................ 12- 6

APPENDIX App. - 1 to App. -20

App. 1 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods ................................................................................. App.- 1

App. 2 Symbol for the new EU Battery Directive .............................................................................. App.- 3

App. 3 Compliance with global standards ........................................................................................ App.- 4

App. 4 Low voltage directive ............................................................................................................ App.-15

App. 5 When turning on or off the input power supply with DC power supply ................................ App.-16

App. 6 Using the neutral point of a 3-phase 400 V AC class power supply for inputting a

1-phase 200 V AC class power supply ................................................................................ App.-17

App. 7 Status of general-purpose AC servo products for compliance with the China RoHS directive ................................................................................................................................ App.-19

5

MEMO

6

1. FUNCTIONS AND CONFIGURATION


POINT

To ensure safety of the system against unauthorized access via a network, take security measures such as using a firewall.

1.1 Summary

The Mitsubishi Electric general-purpose AC servo MELSERVO-JE series have limited functions with keeping high performance based on MELSERVO-J4 series.

The servo amplifier has position, speed, and torque control modes. In the position control mode, the maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control.

The servo amplifier supports profile position/velocity/torque mode that drive motors with communication from the controller. By specifying target position, target speed, acceleration time constant, and deceleration time constant, a position command is created in the servo amplifier and the motor will be driven.

With built-in positioning function, the positioning operation can be performed by using point table method or indexer method. Suitable for assembling a simple positioning system or for simplifying the system.

Drive motor, monitor, and parameter setting can be done with CC-Link IE field network Basic, SLMP,

Modbus/TCP and various Modbus RTU open networks by installing the general-purpose Ethernet connector and RS-485 communication connector in each port.

With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to the machine.

The tough drive function, drive recorder function, and preventive maintenance support function strongly support machine maintenance.

The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain adjustment, and others.

The MELSERVO-JE series servo motor equipped with an absolute position encoder whose resolution is

131072 pulses/rev will enable a high-accuracy positioning.

1 - 1


1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-JE-100C or less

Regenerative option

(Note 2)

Power supply

MCCB MC

L1

L2

U

L3

U U

Diode stack Relay

+

P+

(Note 1)

C

Regenerative

TR

CHARGE lamp

Dynamic brake circuit

Current encoder

Servo motor

U

V

W

U

V

W

M

Base amplifier

Voltage detection

Overcurrent protection

Current detection

Position

command input

Virtual motor

Virtual encoder

Model position Model speed Model torque

Current control

RA

24 V DC

B1

B

B2

Encoder

Battery

(for absolute position detection system)

I/F control

RS-485

CN1 CN6

A/D

CN3

USB

CN5

Controller

Servo amplifier/

Controller

RS-485

Analog

(1 channel)

Digital I/O control

Personal computer

USB

Note 1. The built-in regenerative resistor is not provided for MR-JE-10C and MR-JE-20C.

2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.

For the power supply specifications, refer to section 1.3.

1 - 2


(2) MR-JE-200C or more

Regenerative option

P+ C D

(Note)

Power supply

MCCB MC

L1

L2

U

L3

U U

Diode stack Relay

+

Regenerative

TR

CHARGE lamp

Cooling fan

Dynamic brake circuit

Current encoder

Servo motor

U

V

W

U

V

W

M

Base amplifier

Voltage detection

Current detection

Position

command input

Virtual encoder

Virtual motor

Model position Model speed Model torque

Current control

RA

24 V DC

B1

B


B2

Encoder

Battery

(for absolute position detection system)

I/F control

RS-485

CN1 CN6

A/D

CN3

USB

CN5

Controller

RS-485

Note. For the power supply specifications, refer to section 1.3.

Analog

(1 channel)

Digital I/O control

Personal computer

USB

1 - 3


1.3 Servo amplifier standard specifications

Model: MR-JE-

Output

Rated voltage

Rated current

Voltage/Frequency

[A]

10C

1.1

20C

1.5

40C

2.8

3-phase or 1-phase 200 V AC to 240 V AC,

50 Hz/60 Hz

70C

3-phase 170 V AC

5.8

100C

6.0

200C

11.0

3-phase or 1-phase

200 V AC to 240 V AC,

50 Hz/60 Hz (Note 6)

300C

11.0

3-phase

200 V AC to

240 V AC,

50 Hz/60 Hz

Power supply input

Rated current (Note 4)

[A]

Permissible voltage fluctuation

0.9 1.5

3-phase or 1-phase 170 V AC to 264 V AC

2.6 3.8

3-phase or 1-phase

170 V AC to 264 V AC

(Note 6)

Refer to section 10.5.

24 V DC ± 10%

0.3 (Note 1)

5.0

Sine-wave PWM control, current control method

Built-in

Connection to master station (controller), etc.

Connection to a personal computer or others (MR Configurator2-compatible)

Connection to master station (controller), etc. (1: n communication (max. 32 axes)) (Note 7)

Compatible (A/B/Z-phase pulse)

4 Mpulses/s (for differential receiver) (Note 3), 200 kpulses/s (for open collector)

0 pulse to ±65535 pulses (command pulse unit)

10.5

±3 revolutions

Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)

Analog speed command 1: 2000, internal speed command 1: 5000

0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)

±0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation ±10%), ±0.2% or less

(ambient temperature 25 °C ± 10 °C) when using analog speed command

Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)

0 V DC to ±8 V DC/maximum torque (input impedance 10 kΩ to 12 kΩ)

14.0

3-phase

170 V AC to

264 V AC

Permissible frequency fluctuation

Power supply capacity

[kVA]

Inrush current [A]

Interface power supply

Control method

Dynamic brake

Voltage

Current capacity [A]

Communication function

Ethernet

USB

RS-485

Encoder output pulses

Max. input pulse frequency

Position control mode

Positioning feedback pulse

Command pulse multiplying factor

Speed control mode

In-position range setting

Error excessive

Torque limit

Speed control range

Analog speed command input

Speed fluctuation ratio

Torque control mode

Torque limit

Analog torque command input

Speed limit

Profile mode

Positioning mode

Protective functions

Compliance with global standards

CE marking

UL standard

Within ±5%


Encoder resolution (resolution per servo motor revolution): 131072 pulses/rev

Electronic gear A/B multiple, A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000

Parameter setting

Refer to "MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode)"

Refer to "MR-JE-_C Servo Amplifier Instruction Manual (Positioning Mode)".

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, and error excessive protection

LVD: EN 61800-5-1

EMC: EN 61800-3

UL 508C

Natural cooling, open (IP20)

Force cooling, open

(IP20)

Structure (IP rating)

Close mounting

(Note 2)

3-phase power supply input

1-phase power supply input

Possible

Possible

Impossible

1 - 4


Model: MR-JE-

Environment

Ambient temperature

Ambient humidity

Ambience

Operation

Storage

Operation

Storage

Altitude

Vibration resistance

10C 20C 40C 70C 100C

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

200C


Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

2000 m or less above sea level (note 6)

5.9 m/s 2 , at 10 Hz to 55 Hz (X, Y, Z axes)

300C

Mass [kg] 0.8 1.5 2.1

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the servo amplifier, operate them at the ambient temperature of 0 °C to 45 °C or at 75% or smaller effective load ratio.

3. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4

Mpulses/s or lower, change the setting in [Pr. PA13].

4. These are current values for 3-phase power supply.

5. When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio.

6. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.

7. RS-485 communication function can be used only on Modbus RTU.

1.4 Combinations of servo amplifiers and servo motors

Servo amplifier (Note)

MR-JE-10C

MR-JE-20C

MR-JE-40C

MR-JE-70C

MR-JE-100C

MR-JE-200C

HG-KN13_

HG-KN23_

HG-KN43_

HG-KN73_

HG-SN52_

HG-SN102_

HG-SN152_

HG-SN202_

HG-SN302_

Servo motor (Note)

MR-JE-300C

Note. By setting [Pr. PA28 HG-KN servo motor series motor maximum speed selection], the motor maximum speed can be changed from 5000 r/min to 6000 r/min for the

HG-KN servo motor series.

1 - 5


1.5 Function list

POINT

Ethernet communication (CC-Link IE field network Basic, SLMP and Modbus/

TCP) and RS-485 communication (Modbus RTU) are exclusively independent functions.

The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field.

Function Description

Detailed explanation

Position control mode (P)

(pulse train input)

Speed control mode (S)

(Analog input/DI input)

Torque control mode (T)

(Analog input)

This servo amplifier is used as a position control servo.

This servo amplifier is used as a speed control servo.

This servo amplifier is used as a torque control servo.

Section 3.2.1

Section 3.6.1

Section 4.2

Section 3.2.2

Section 3.6.2

Section 4.3

Section 3.2.3

Section 3.6.3

Section 4.4

Position/speed control switching mode (P/S)

Speed/torque control switch mode (S/T)

Torque/position control switch mode (T/P)

Positioning mode

(Point table method) (CP)

Positioning mode

(Indexer method) (PS)

Using an input device, control can be switched between position control and speed control.

Using an input device, control can be switched between speed control and torque control.

Using an input device, control can be switched between torque control and position control.

Select any 1 to 255 point table and perform operation in accordance with the set values.

To select point tables, use external input signals or communication function.

This function is available with servo amplifiers with software version A4 or later.

Perform operation to the station positions divided into 2 to 255.

To select station positions, use external input signals or communication function.


Section 3.6.4

Section 3.6.5

Section 3.6.6

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Positioning

Mode)"

Profile position mode (pp)

Profile velocity mode (pv)

Profile torque mode (tq)

Homing mode (hm)

The servo amplifier operates in the profile position mode.

The servo amplifier operates in the profile velocity mode.

The servo amplifier operates in the profile torque mode.

This servo amplifier operates in the homing mode.

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Profile

Mode)"

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Profile

Mode)"

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Positioning

Mode)"

Absolute position detection system

To omit home position return at each power-on, set a home position once. Chapter 12

1 - 6


Function

Model adaptive control

Roll feed display function

Touch probe function setting

Robust filter

Slight vibration suppression control

Electronic gear

Current position latch function

Interrupt positioning function

Infinite feed function

(When degree is set)

Command pulse selection

High-resolution encoder

Gain switching function

Advanced vibration suppression control II

Machine resonance suppression filter

Shaft resonance suppression filter

Adaptive filter II

Low-pass filter

Machine analyzer function

S-pattern acceleration/ deceleration time constant

Description


This function achieves a high response and stable control following the ideal model.

The two-degrees-of-freedom model adaptive control enables the response to be set to the command and to the disturbance separately.

This function can also be disabled. Refer to section 7.4 for disabling this function.

Positioning is performed based on the specified travel distance from a status display

"0" of current/command positions at start.


The touch probe function is available in the profile mode or the positioning mode.

When the touch probe 1 signal turns on, the current position is latched. The latched data can be read with communication commands.

The touch probe function is available in the profile mode or the positioning mode.

When the touch probe 1 signal turns on, this function converts the remaining distance to the travel distance set in [Pr. PT30 Touch probe sensor - Travel distance before stop (lower four digits)] and [Pr. PT31 Touch probe sensor - Travel distance before stop (upper four digits)].


When the unit of position data of the profile mode is set to degree, the detection of

[AL. E3.1 Multi-revolution counter travel distance excess warning] is disabled and the home position is retained even if the servo motor rotates 32768 revolutions or more in the same direction. Thus, the current position is restored after the power is cycled.

This function can be used with the absolute position detection system.

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Positioning

Mode)"

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Positioning

Mode)"

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Profile

Mode)"

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Profile

Mode)"

[Pr. PA13] Command pulse train form can be selected from among three different types.

High-resolution encoder of 131072 pulses/rev is used for the encoder of the servo motor compatible with the MELSERVO-JE series.

You can switch gains during rotation and during stop, and can use an input device to switch gains during operation.

Section 7.2

Section 7.1.5 This function suppresses vibration and residual vibration at an arm end.

This filter function (notch filter) decreases the gain of the specific frequency to suppress the resonance of the mechanical system.

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration of high frequency. The shaft resonance suppression filter suppresses the vibration.

The servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

Suppresses high-frequency resonance which occurs as the servo system response is increased.

Analyzes the frequency characteristic of the mechanical system just by using MR

Configurator2.

MR Configurator2 is necessary for this function.

Improves a disturbance response when a response performance cannot be increased because of a large load to motor inertia ratio, such as a roll feed axis.

Suppresses vibration of ±1 pulse generated at each servo motor stop.

Section 7.1.1

Section 7.1.3

Section 7.1.2

Section 7.1.4

[Pr. PE41]

Positioning control is performed with the position command from the controller multiplied by a set electronic gear ratio.

Enables smooth acceleration and deceleration.

Set S-pattern acceleration/deceleration time constants with [Pr. PC03].

Regardless of the command speed, S-pattern acceleration/deceleration time constant will be longer in comparison with the linear acceleration/deceleration time constant.

[Pr. PB24]

[Pr. PA06]

[Pr. PA07]

[Pr. PC03]

1 - 7


Function

Auto tuning

Regenerative option

Alarm history clear

Input signal selection

(device settings)

Output signal selection

(device settings)

Output signal (DO) forced output

Torque limit

Speed limit

Automatic VC offset

Alarm code output

Test operation mode

MR Configurator2

One-touch tuning

Tough drive function

Drive recorder function

Servo amplifier life diagnosis function

Power monitoring function

Description

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

Use a regenerative option when the built-in regenerative resistor of the servo amplifier does not have sufficient capacity for a large regenerative power generated.

Clears alarm histories.

ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and other input device can be assigned to certain pins of the CN3 connector.

The output devices including MBR (Electromagnetic brake interlock) can be assigned to certain pins of the CN3 connector.

Forcibly turns on/off the output signals, independently of the servo status.

Use this function for checking output signal wiring, etc.

Limits the servo motor torque.

Servo motor speed can be limited to any value.


Section 6.3

Section 11.2

[Pr. PC18]

Section 3.5

[Pr. PD29] to

[Pr. PD32]

Section 4.7.1

(1) (d)

[Pr. PA11]

[Pr. PA12]

[Pr. PC35]

Section 3.6.3

(3)

[Pr. PC05] to

[Pr. PC11]

Voltage is automatically offset to stop the servo motor if it does not come to a stop when VC (Analog speed command) is 0 V.


If an alarm has occurred, the corresponding alarm number generates a 3-bit code.

Jog operation/positioning operation/motor-less operation/DO forced output/program operation/single-step feed


Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others.

Chapter 8

Section 4.7

Gain adjustment is performed just by one click on MR Configurator2.

This function is available with MR Configurator2 or via a network.

Section 11.4

Section 6.2

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Network)"

This function makes the equipment continue operating even under the condition that an alarm occurs.

The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.

This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data by clicking the Waveform-Display button on the drive recorder window on MR

Configurator2.

However, the drive recorder is not available when:

1. The graph function of MR Configurator2 is being used.

2. The machine analyzer function is being used.

3. [Pr. PF21] is set to "-1".

Section 7.3

[Pr. PA23]

You can check the cumulative energization time and the number of on/off times of the inrush relay. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.


"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Network)"

This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2.

1 - 8


Basic

SLMP

Function

Machine diagnosis function

Modbus RTU

Modbus/TCP

CC-Link IE Field Network

IP address filtering function

Operation specification IP address function

Lost motion compensation function

Limit switch

Software limit

Analog override

Digital override

Description

Limits travel intervals by address using parameters.

Enables the same function with the limit switch by setting parameters.

Limits a servo motor speed with analog inputs.

The value can be changed to 0% to 200% of the set speed.


A commanded speed multiplied by an override value selected with OVR (Override selection) will be an actual servo motor speed.

The value can be changed to 0% to 360% of the set speed.



From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in the machine parts, including a ball screw and bearing.


The Modbus RTU uses dedicated message frames for the Ethernet communication between a master and slaves. The dedicated message frame has a message field called Function which reads and writes data, and parameter setting (reading and writing) of the servo amplifier and monitoring can be done with this message field.

In the profile mode or positioning mode, driving the servo motor is also possible.


The Modbus/TCP uses dedicated message frames for the Ethernet communication between a client (master) and servers (slaves). The dedicated message frame has a message field called Function which reads and writes data, and parameter setting

(reading and writing) of the servo amplifier and monitoring can be done with this message field. In the profile mode or positioning mode, driving the servo motor is also possible.

This function is available with servo amplifier with software version A3 or later.

CC-Link IE Field Network Basic enables fixed cycle communication between the master and slave stations using a general-purpose Ethernet connector. Setting parameters (for reading/writing) of servo amplifiers and monitoring can be performed.

In the profile mode or positioning mode, driving the servo motor is also possible.

SLMP (SeamLess Message Protocol) is a protocol to access SLMP-compatible devices from external devices (such as a personal computer and an HMI) or CPU module via Ethernet. Setting parameters (for reading/writing) of servo amplifiers and monitoring can be performed. In the profile mode or positioning mode, driving the servo motor is also possible.

You can limit the network devices to be connected to the servo amplifier by registering the range of IP addresses in advance.

To limit network devices to which an operation right is given in Ethernet communication (CC-Link IE Field Network Basic, SLMP, or Modbus/TCP), set the range of IP addresses.

Monitoring/parameter reading can be performed with the network devices having no operation right.

This function improves the response delay generated when the machine moving direction is reversed.

Travel intervals can be limited with LSP (Forward rotation stroke end) and LSN

(Reverse rotation stroke end).

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Network)"

Section 7.5

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Positioning

Mode)"

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Profile

Mode)"

"MR-JE-_C

Servo

Amplifier

Instruction

Manual

(Positioning

Mode)"

1 - 9


1.6 Model designation

(1) Rating plate

The following shows an example of rating plate for explanation of each item.

Serial number

Model

Capacity

Applicable power supply

Rated output current

Standard, Manual number

Ambient temperature

IP rating

KC certification number

The year and month of manufacture

Country of origin

(2) Model

The following describes what each block of a model name indicates.

M R - J E - 1 0 C

Series

Ethernet Interface

Rated output

Symbol Rated output [kW]

10 0.1

20

40

70

100

200

300

0.2

0.4

0.75

1

2

3

1 - 10


1.7 Structure

1.7.1 Parts identification


(1)

(2)

(5)

(6)

(12)

Side

Bottom

(3)

(4)

(7)

(8)

(9)

(10)

(13)

(11)

(14)

No.

(1)

(2)

(3)

(4)

Name/Application

Display

The 3-digit, 7-segment LED shows the servo status and the alarm number.

Identification number setting rotary switch

(SW1/SW2)

Used to set the identification number of the servo amplifier.

USB communication connector (CN5)

Connect with the personal computer.

I/O signal connector (CN3)

Connect digital I/O signal and analog output signal.


Section

4.5

Section

11.4

Section

3.2

Section

3.4

(5)

(6)

(7)

Battery connector (CN4)

Connect the battery for absolute position data backup.

Battery holder

Install the battery for absolute position data backup.

Ethernet cable connector (CN1)

Connect the Ethernet cable.

(8) Ethernet communication status displaying LED

(9)

(10)

(11)

RS-485 communication connector (CN6)

Connect with the Modbus RTU communication device.

Encoder connector (CN2)

Connect the servo motor encoder.

Power connector (CNP1)

Used to connect the input power supply, built-in regenerative resistor, regenerative option, and servo motor.

(12) Rating plate

(13)

Charge lamp

When the main circuit is charged, this will light up.

While this lamp is lit, do not reconnect the wires.

Protective earth (PE) terminal

(14)

Section

11.5

Section

3.1

Section

3.3

Section

11.1.3

Section

4.5.4

Section

3.4

Section

3.4

Section

3.1

Section

3.3

Section

1.6

1 - 11



(11)

(12)

Side

(13)

(14)

(15)

(1)

(2)

(3)

(4)

(6)

(7)

(8)

(9)

Bottom

(10)

(5)

No.

(1)

(2)

(3)

(4)

Name/Application

Display

The 3-digit, 7-segment LED shows the servo status and the alarm number.

Identification number setting rotary switch

(SW1/SW2)

Used to set the identification number of the servo amplifier.

USB communication connector (CN5)

Connect with the personal computer.

I/O signal connector (CN3)

Connect digital I/O signal and analog output signal.


Section

4.5

Section

11.4

Section

3.2

Section

3.4

(5)

(6)

(7)

Battery connector (CN4)

Connect the battery for absolute position data backup.

Battery holder

Install the battery for absolute position data backup.

Ethernet cable connector (CN1)

Connect the Ethernet cable.

(8) Ethernet communication status displaying LED

(9)

(10)

RS-485 communication connector (CN6)

Connect with the Modbus RTU communication device.

Encoder connector (CN2)

Connect the servo motor encoder.

Power connector (CNP1)

(11)

Section

11.5

(12) Rating plate

(13)

Servo motor power connector (CNP2)

Used to connect the servo motor.

Section

11.1.3

Section

4.5.4

Section

3.4

Section

3.4

Section

3.1

Section

3.3

Section

1.6

Section

3.1

Section

3.3

(14)

Charge lamp

When the main circuit is charged, this will light up.

While this lamp is lit, do not reconnect the wires.

Protective earth (PE) terminal

(15)

Section

3.1

Section

3.3

1 - 12


1.8 Configuration including peripheral equipment

CAUTION


POINT

Equipment other than the servo amplifier and servo motor are optional or recommended products.

1 - 13



The diagram shows MR-JE-10C.

CN5

MR Configurator2

Personal computer

(Note 1)

Power supply

Molded-case circuit breaker

R S T

CN3

(Note 2)

Magnetic contactor

(MC)

Power factor improving AC reactor

(FR-HAL)

Line noise filter

(FR-BSF01)

CN1

CN6

CN2

Junction terminal block


Basic, SLMP or Modbus/TCP

Modbus RTU (Note 3)

L1

L2

L3

Servo motor U

V

W

Note 1. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 1.3.

2. Depending on the power supply voltage and operation pattern, bus voltage can decrease. This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.


1 - 14



The diagram shows MR-JE-200C.

R S T

(Note 1)

Power supply

Molded-case circuit breaker

(Note 2)

Magnetic contactor

(MC)


(FR-HAL)

Line noise filter

(FR-BSF01)

L1

L2

L3

U

V

W

CN5

MR Configurator2

Personal computer

CN3

CN1

CN6

CN2



Basic, SLMP or Modbus/TCP

Modbus RTU (Note 3)

Servo motor

Note 1. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-JE-200C. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L2. Leave L3 open. For the power supply specifications, refer to section 1.3.

2. Depending on the power supply voltage and operation pattern, bus voltage can decrease. This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.


1 - 15


MEMO

1 - 16

2. INSTALLATION

2. INSTALLATION

WARNING

To prevent electric shock, ground each equipment securely.

CAUTION

Stacking in excess of the specified number of product packages is not allowed.


Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire.

Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual.

Do not get on or put heavy load on the product. Otherwise, it may cause injury.

Use the equipment within the specified environment. For the environment, refer to section 1.3.

Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier.

Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.

Do not drop or apply heavy impact on the servo amplifiers and the servo motors.

Otherwise, injury, malfunction, etc. may occur.

Do not install or operate the servo amplifier which has been damaged or has any parts missing.

When the product has been stored for an extended period of time, contact your local sales office.

When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier.

The servo amplifier must be installed in a metal cabinet.

When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

2 - 1

2. INSTALLATION

2.1 Installation direction and clearances

CAUTION

The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction.

Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction.

MR-JE-40C to MR-JE-100C have a regenerative resistor on their back face. The regenerative resistor generates heat of 100 °C higher than the ambient temperature. Please fully consider heat dissipation, installation position, etc. when mounting it.

(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier

Cabinet Cabinet

Wiring allowance

80 mm or more

10 mm or more

10 mm or more Top

Bottom

40 mm or more

2 - 2

2. INSTALLATION

(b) Installation of two or more servo amplifiers

POINT

Close mounting is possible depending on the capacity of the servo amplifier.

Refer to section 1.3 for availability of close mounting.

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.

When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within

0 °C to 45 °C or use the servo amplifier with 75% or less of the effective load ratio.

Cabinet Cabinet

100 mm or more

10 mm or more 1 mm

100 mm or more

1 mm

30 mm or more

30 mm or more

30 mm or more

Top

Bottom

40 mm or more 40 mm or more

Leaving clearance Mounting closely

(2) Others

When using heat generating equipment such as the regenerative 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.

2.2 Keep out foreign materials

(1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or a cooling fan installed on the ceiling.

(3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the cabinet.

2 - 3

2. INSTALLATION

2.3 Encoder cable stress

(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the bending life range.

Use the power supply and brake wiring cables within the bending life of the cables.

(3) Avoid any probability that the cable insulator might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles.

(4) For installation on a machine where the servo motor moves, the flexing radius should be made as large as possible. Refer to section 10.4 for the bending life.

2.4 Inspection items

WARNING

Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

To avoid an electric shock, only qualified personnel should attempt inspections.

For repair and parts replacement, contact your local sales office.

CAUTION

Do not perform insulation resistance test on the servo amplifier. Otherwise, it may cause a malfunction.

Do not disassemble and/or repair the equipment on customer side.

It is recommended that the following points periodically be checked.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check the cables and the like for scratches or cracks. Inspect them periodically according to operating conditions especially when the servo motor is movable.

(3) Check that the connector is securely connected to the servo amplifier.

(4) Check that the wires are not coming out from the connector.

(5) Check for dust accumulation on the servo amplifier.

(6) Check for unusual noise generated from the servo amplifier.

(7) Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

2 - 4

2. INSTALLATION

2.5 Parts having service life

Service life of the following parts is listed below. However, the service life varies depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your local sales office.

Part name Life guideline

Smoothing capacitor

Relay

Cooling fan

Absolute position battery

10 years

Number of power-on, forced stop by EM1

(Forced stop 1), and sudden stop command from controller: 100,000 times

50,000 hours to 70,000 hours (7 years to 8 years)


(1) Smoothing capacitor

The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment (ambient temperature of 40 °C or less).

(2) Relays

Contact faults will occur due to contact wear arisen from switching currents. Relays will reach the end of their lives depending on their power supply capacity when the number of power-on times, number of forced stop times by EM1 (Forced stop 1), and number of controller forced stop command times are

100,000 times in total.

(3) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 50,000 hours to 70,000 hours. Normally, therefore, the cooling fan must be replaced in seven to eight years of continuous operation as a guideline. If unusual noise or vibration is found during inspection, the cooling fan must also be replaced.

The life indicates under the yearly average ambient temperature of 40 °C, free from corrosive gas, flammable gas, oil mist, dust and dirt.

2 - 5

2. INSTALLATION

2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level

(1) Effective load ratio and regenerative load ratio

As heat dissipation effects decrease in proportion to the decrease in air density, use the product within the effective load ratio and regenerative load ratio shown in the following figure.

[%]

100

95

0

0 1000

Altitude

2000 [m]

When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 °C to 45 °C or at 75% or smaller effective load ratio. (Refer to section 2.1.)

(2) Input voltage

Generally, a withstand voltage decreases as the altitude increases; however, there is no restriction on the withstand voltage. Use in the same manner as in 1000 m or less. (Refer to section 1.3.)

(3) Parts having service life

(a) Smoothing capacitor

The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 30 °C or less).

(b) Relay

There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.4.)

(c) Servo amplifier cooling fan

There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.4.)

2 - 6

3. SIGNALS AND WIRING


WARNING

Any person who is involved in wiring should be fully competent to do the work.

Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.


Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.

To avoid an electric shock, insulate the connections of the power supply terminals.

CAUTION

Before removing the CNP1 connector from MR-JE-40C to MR-JE-100C, disconnect the lead wires of the regenerative resistor from the CNP1 connector.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier Servo amplifier

24 V DC 24 V DC

DOCOM DOCOM


For source output interface

RA


For sink output interface

RA

Use a noise filter, etc. to minimize the influence of electromagnetic interference.

Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.

Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF) with the power line of the servo motor.

When using the regenerative resistor, switch power off with the alarm signal.

Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire.

Do not modify the equipment.

Connect the servo amplifier power output (U/V/W) to the servo motor power input

(U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Servo motor

V

W

M

Servo amplifier

U

V

W

U

Servo motor

V

W

M

3 - 1


CAUTION


Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.

3.1 Input power supply circuit

CAUTION

Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

Use ALM (Malfunction) to switch power off. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.

Before removing the CNP1 connector from MR-JE-40C to MR-JE-100C, disconnect the lead wires of the regenerative resistor from the CNP1 connector.

Not doing so may break the lead wires of the regenerative resistor.

Check the servo amplifier model, and then input proper voltage to the servo amplifier power supply. If input voltage exceeds the upper limit of the specification, the servo amplifier will break down.

The servo amplifier has a built-in surge absorber (varistor) to reduce exogenous noise and to suppress lightning surge. Exogenous noise or lightning surge deteriorates the varistor characteristics, and the varistor may be damaged. To prevent a fire, use a molded-case circuit breaker or fuse for input power supply.


POINT

EM2 has the same function as EM1 in the torque control mode.

When a 1-phase 200 V AC to 240 V AC power supply is used, the connection destination differs depending on the servo amplifier. Ensure that the connection destination is correct.

Configure the wirings so that the power supply is shut off and SON (Servo-on) is turned off after deceleration to a stop due to an alarm occurring, enabled servo forced stop, etc. A molded-case circuit breaker (MCCB) must be used with the input cables of the power supply.

3 - 2


(1) Using 3-phase 200 V AC to 240 V AC power supply for MR-JE-10C to MR-JE-100C

OFF

ON

MC

3-phase

200 V AC to

240 V AC

MCCB

Emergency stop switch

RA1

Malfunction

MC

(Note 5)

MC

(Note 1)

Servo amplifier

CNP1

L1

L2

L3

Built-in regenerative resistor

U

V

P+ W

C

SK

(Note 4, 7)

U

V

W

Servo motor

Motor

M

(Note 7)

CN2 (Note 2)

Encoder cable

Encoder

(Note 3)

Forced stop 2

Servo-on

(Note 6)

Power supply

24 V DC (Note 8)

CN3

EM2

SON

DICOM

CN3

DOCOM

ALM

24 V DC (Note 8)

RA1

Malfunction (Note 3)

Note 1. MR-JE-40C to MR-JE-100C have a built-in regenerative resistor. (factory-wired) When using the regenerative option, refer to section 11.2.

2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "HG-KN/HG-SN Servo

Motor Instruction Manual".

3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

4. For connecting servo motor power wires, refer to "HG-KN/HG-SN Servo Motor Instruction Manual".

5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease.

This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.

6. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier.

7. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

3 - 3


(2) Using 1-phase 200 V AC to 240 V AC power supply for MR-JE-10C to MR-JE-100C

POINT

Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-JE-200C Servo Amplifier's.

You can use the neutral point of a 3-phase 400 V AC class power supply to input a 1-phase 200 V AC class power supply to the servo amplifier. Refer to app. 6 for details.

OFF

ON

MC

1-phase

200 V AC to

240 V AC

MCCB


(Note 5)

MC

(Note 1)

RA1

P+

Malfunction

Servo amplifier

CNP1

L1

L2

L3


U

V

W

MC

C

SK

(Note 4, 7)

U

V

W

Servo motor

Motor

M

(Note 7)

CN2 (Note 2)

Encoder cable

Encoder

(Note 3)

Forced stop 2

Servo-on

(Note 6)

Power supply

24 V DC (Note 8)

CN3

EM2

SON

DICOM

CN3

DOCOM

ALM

24 V DC (Note 8)

RA1


Note 1. MR-JE-40C to MR-JE-100C have a built-in regenerative resistor. (factory-wired) When using the regenerative option, refer to section 11.2.










3 - 4


(3) Using 3-phase 200 V AC to 240 V AC power supply for MR-JE-200C or MR-JE-300C

OFF

ON

MC

3-phase

200 V AC to

240 V AC

MCCB


(Note 5)

MC

(Note 1)

RA1 MC

Malfunction

Servo amplifier

CNP1

L1

L2

CNP2

U

L3

Unassigned

C

V

W

D

P+

SK

(Note 4, 7)

U

V

W

Servo motor

Motor

M

(Note 7)

CN2 (Note 2)

Encoder cable

Encoder

(Note 3)

Forced stop 2

Servo-on

(Note 6)

Power supply

24 V DC (Note 8)

CN3

EM2

SON

DICOM

CN3

DOCOM

ALM

24 V DC (Note 8)

RA1


Note 1. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.










3 - 5


(4) Using 1-phase 200 V AC to 240 V AC power supply for MR-JE-200C

POINT

Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L2. One of the connecting destinations is different from MR-JE-100C or less Servo

Amplifier's.

You can use the neutral point of a 3-phase 400 V AC class power supply to input a 1-phase 200 V AC class power supply to the servo amplifier. Refer to app. 7 for details.

OFF

ON

MC


RA1

Malfunction

MC SK

Servo motor

1-phase

200 V AC to

240 V AC

MCCB

(Note 5)

MC

Servo amplifier

CNP1

L1

L2

CNP2

U

L3 V

W

(Note 4, 7)

U

V

W

Motor

M

(Note 1)

Unassigned

C

D

P+

(Note 7)

CN2 (Note 2)

Encoder cable

Encoder

(Note 3)

Forced stop 2

Servo-on

(Note 6) supply

24 V DC (Note 8)

CN3

EM2

SON

DICOM

CN3

DOCOM

ALM

24 V DC (Note 8)

RA1


Note 1. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.

2. For the encoder cable, use of the option cable is recommended. For cable selection, refer to "HG-KN/HG-SN Servo



4. For connection of servo motor power wires, refer to "HG-KN/HG-SN Servo Motor Instruction Manual".






3 - 6


3.2 I/O signal connection example

3.2.1 Position control mode

(1) When you use a positioning module LD75D/QD75D/RD75D

(a) For sink I/O interface

24 V DC (Note 4)

CLEARCOM

CLEAR

RDYCOM

READY

PULSE F+

PULSE F-

PULSE R+

PULSE R- 18

PG0

PG0 COM

9

10

14

13

12

11

15

16

17

10 m or less

(Note 8)

NG

LZ

LZR

SD

RD

PP

PG

NP

DICOM

DOCOM

CR

Servo amplifier

(Note 7)

CN3

5

17

21

(Note 7)

CN3

15

22

16

14

6

7

19

20

13

26

Plate

11

24

12

ALM

INP

OP

LA

LAR

LB

25 LBR

23 LG

Plate SD

(Note 3, 5) Forced stop 2

Servo-on

Reset

Forward rotation

(Note 5)

10 m or less

EM2

SON

RES

LSP

LSN

8

3

1

2

4

0 V to +10 V

2 m or less

TLA

LG

SD

9

10

Plate

Ethernet cable

CN1 CN6

(Note 2)

RA1

RA2

RA3

10 m or less

Modbus RTU

(Note 14, 15, 16, 17)

Basic, SLMP or Modbus/

TCP

(Note 14, 15, 16, 17)

(Note 9)

MR Configurator2

Personal computer

(Note 18)


In-position

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse


Control common

(Note 10)

USB cable

(option)

CN5

+ (Note 1)

3 - 7


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section

3.9.2 (1) that gives the current value necessary for the interface.

5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) (normally closed contact).

6. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact). When this signal is switched off (at occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.

7. The pins with the same signal name are connected in the servo amplifier.

8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector type.

9. Use SW1DNC-MRC2-_. (Refer to section 11.4.)

10. Disconnection of the command cable or noise may cause a position mismatch. To avoid the position mismatch, check the encoder A-phase pulse and encoder B-phase pulse on the controller side.


12. Plus and minus of the power of source interface are the opposite of those of sink interface.

13. CLEAR and CLEARCOM of source interface are interchanged to sink interface.

14. For communication function, refer to the "MR-JE-_C Servo Amplifier Instruction Manual (Network)".

15. When using the absolute position detection system, absolute position data reading can be done by using communication. For absolute position detection system, refer to chapter 12.3.

16. Modbus/TCP can be used with servo amplifiers with software version A3 or later. Modbus RTU can be used with servo amplifiers with software version A4 or later.

17. Ethernet communication (CC-Link IE field network Basic, SLMP and Modbus/TCP) and RS-485 communication (Modbus RTU) are exclusively independent functions. Only the communication function selected in [Pr. PN08] "Select communication function" can be used.

18. If this servo amplifier is the last axis, connect a 150 Ω resistor between DA and DB, and terminate the servo amplifier. For details, refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)".

3 - 8


(b) For source I/O interface

POINT

For notes, refer to (1) (a) in this section.

24 V DC (Note 4, 12)

(Note 13)

CLEAR

CLEARCOM

RDYCOM

READY

PULSE F+

PULSE F-

PULSE R+

15

16

17

PULSE R- 18

PG0 9

PG0 COM 10

13

14

12

11

10 m or less

(Note 8)

RD

PP

PG

NP

NG

LZ

LZR

SD

DICOM

DOCOM

CR

Servo amplifier

(Note 7)

CN3

(Note 7)

CN3

5

17

15

21

22

16

14

6

7

19

20

13

26

Plate

11

24

12

25

23

Plate

ALM

INP

OP

LA

LAR

LB

LBR

LG

SD

(Note 2)

RA1

RA2

RA3

10 m or less

(Note 3, 5)

(Note 5)

Forced stop 2

Servo-on

Reset

Forward rotation

10 m or less

EM2

SON

RES

LSP

LSN

0 V to +10 V

Analog torque limit

+10 V/maximum torque

2 m or less

TLA

LG

SD

9

10

Plate

3

4

1

2

8


In-position





Control common

(Note 10)

Ethernet cable

CN1 CN6


TCP

(Note 14, 15, 16, 17)

(Note 9)

MR Configurator2

Personal computer

USB cable

(option)

CN5

(Note 18)

+ (Note 1)

3 - 9


(2) When you use a positioning module FX

5U

-_ _MT/ES (For sink I/O interface)

2 m or less (Note 8)

Programmable controller

FX

5U

-_ _MT/ES (Note 11)

24 V DC

(Note 4)

S/S

24V

0V

L

Servo amplifier

(Note 2)

Programmable controller power supply

N

Y0

COM0

Y4

COM1

Y1

X _

X _

DICOM

OPC

DOCOM

PP

NP

CR

INP

RD

CN3

5

18

17

6

19

21

22

14

15 ALM

13 LZ

26 LZR

11 LA

24 LAR

12 LB

25 LBR

23 LG

Plate SD

RA1

10 m or less

(Note 12) X0 OP 16




Control common

(Note 13)

SD Plate

(Note 3, 5) Forced stop 2

Servo-on

Reset

(Note 5)

0 V to +10 V

10 m or less

EM2

SON

RES

LSP

LSN

TLA

LG

SD

(Note 7)

CN3

9

10

Plate

2 m or less

8

3

1

2

4

Ethernet cable

CN1



TCP

(Note 14, 15, 16, 17)

(Note 9)

MR Configurator2

Personal computer

USB cable

(option)

CN5

+

CN6

(Note 18)

(Note 1)

3 - 10






3.9.2 (1) that gives the current value necessary for the interface.


6. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact). When this signal is switched off (at occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.


8. Connect them within 2 m because of open-collector type.



11. Select the number of I/O points of the programmable controller depending on your system.

12. Select it within X0 to X7.

13. Disconnection of the command cable or noise may cause a position mismatch. To avoid the position mismatch, check the encoder A-phase pulse and encoder B-phase pulse on the controller side.


15. When using the absolute position detection system, absolute position data reading can be done by using communication. For absolute position detection system, refer to chapter 12.3.




3 - 11


3.2.2 Speed control mode

(1) For sink I/O interface

(Note 3, 5)

(Note 5)

Forced stop 2

Servo-on

Forward rotation start

Reverse rotation start stroke end

10 m or less

(Note 10)

Power supply

EM2

SON

ST1

ST2

LSP

LSN

DICOM

Servo amplifier

(Note 7)

CN3

1

(Note 7)

CN3

17 DOCOM

2

8

15 ALM

21

3

4

5

22

14

16

SA

RD

OP

24 V DC (Note 4)

-10 V to +10 V

Analog speed command

±10 V/rated speed

(Note 8)

(Note 12)

(Note 13)

2 m or less

VC

LG

SD

9

10

Plate

13

26

LZ

LZR

11 LA

24 LAR

12 LB

25 LBR

23

Plate

LG

SD

24 V DC (Note 4)

(Note 2)

RA1


RA2

RA3

RA4

Speed reached

Ready

Encoder Z-phase pulse

(open collector)

10 m or less







Control common

Ethernet cable

CN1 CN6

Modbus RTU

(Note 14, 15, 16)



TCP

(Note 14, 15, 16)

(Note 9)

MR Configurator2

Personal computer

(Note 17)

USB cable

(option)

CN5

+ (Note 1)

3 - 12






3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.


6. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact).


8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD05], [Pr. PD08], [Pr. PD11], [Pr. PD14],

[Pr. PD17], [Pr. PD23] and [Pr. PD26]. (Refer to section 3.6.1 (5).)




12. Analog speed command is available when "VC setting (1 _ _ _)" is selected in [Pr. PC29]. (Refer to [Pr. PC29] in section 5.2)

13. Use [Pr. PA11], [Pr. PA12], and [Pr. PC35] for the torque limit.





3 - 13


(2) For source I/O interface

POINT

For notes, refer to (1) in this section.

(Note 3, 5)

(Note 5)

Forced stop 2

Servo-on


Reverse rotation start stroke end

10 m or less

(Note 10)

Power supply

EM2

SON

ST1

ST2

LSP

LSN

DICOM

Servo amplifier

(Note 7)

CN3

(Note 7)

CN3

1

17

DOCOM

2

8

15 ALM

21

3

4

5

22

14

16

SA

RD

OP

24 V DC (Note 4, 11)

-10 V to +10 V


±10 V/rated speed

(Note 8)

(Note 12)

(Note 13)

2 m or less

VC

LG

SD

9

10

Plate

13

26

LZ

LZR

11 LA

24 LAR

12 LB

25 LBR

23

Plate

LG

SD

24 V DC (Note 4, 11)

(Note 2)

RA1

RA2

RA3

RA4

10 m or less


Speed reached

Ready


(open collector)







Control common

Ethernet cable

CN1 CN6

Modbus RTU

(Note 14, 15, 16)



TCP

(Note 14, 15, 16)

(Note 9)

MR Configurator2

Personal computer

(Note 17)

USB cable

(option)

CN5

+ (Note 1)

3 - 14


3.2.3 Torque control mode

POINT


(1) For sink I/O interface

(Note 3) Forced stop 2

Servo-on

Forward rotation selection

Reverse rotation selection

10 m or less

(Note 8)

Power supply

EM2

SON

RS1

RS2

DICOM

Servo amplifier

(Note 6)

CN3

(Note 6)

CN3

1

2

17

DOCOM

21

8

15 ALM

14 RD

5

16 OP 24 V DC (Note 4)

-8 V to +8 V

Analog torque command

±8 V/maximum torque

(Note 10)

(Note 11)

2 m or less

TC

LG

SD

9

10

Plate

13

26

LZ

LZR

11 LA

24 LAR

12 LB

25 LBR

23 LG

Plate SD

24 V DC (Note 4)

(Note 2)

RA1


RA2

RA3

10 m or less

Ready


(open collector)







Control common

Ethernet cable

CN1 CN6



(Note 15)

Modbus RTU

(Note 12, 13, 14)

(Note 7)

MR Configurator2

Personal computer

USB cable

(option)

CN5

+ (Note 1)

3 - 15






3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

5. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact).





10. Analog torque command is available when "TC/TLA setting (0 _ _ _)" is selected in [Pr. PC29]. (Refer to [Pr. PC29] in section

5.2)

11. Use [Pr. PC05] to [Pr. PC11] for the speed limit.





3 - 16


(2) For source I/O interface

POINT

For notes, refer to (1) in this section.

(Note 3) Forced stop 2

Servo-on



10 m or less

(Note 8)

Power supply

EM2

SON

RS1

RS2

DICOM

Servo amplifier

(Note 6)

CN3

(Note 6)

CN3

1

2

17

DOCOM

21

8

15 ALM

14 RD

5

16 OP 24 V DC (Note 4, 9)

-8 V to +8 V


±8 V/maximum torque

(Note 10)

(Note 11)

2 m or less

TC

LG

SD

9

10

Plate

13 LZ

26

11

LZR

LA

24 LAR

12 LB

25 LBR

23 LG

Plate SD

24 V DC (Note 4, 9)

(Note 2)

RA1


RA2

RA3

10 m or less

Ready


(open collector)







Control common

Ethernet cable

CN1 CN6

Modbus RTU

(Note 12, 13, 14)



TCP

(Note 12, 13, 14)

(Note 7)

MR Configurator2

Personal computer

(Note 15)

USB cable

(option)

CN5

+ (Note 1)

3 - 17


3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT

For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS.

Symbol

L1/L2/L3

P+/C/D

U/V/W

Connection target

(application)

Power supply

Regenerative option

Servo motor power

Protective earth

(PE)

Description

Supply the following power to L1/L2/L3. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.

For 1-phase 200 V AC to 240 V AC of MR-JE-200C, connect the power supply to L1 and L2. Leave

L3 open.

Power supply

Servo amplifier

MR-JE-10C to MR-JE-100C

3-phase 200 V AC to 240 V AC,

50 Hz/60 Hz

1-phase 200 V AC to 240 V AC,

50 Hz/60 Hz

L1/L2/L3

L1/L3

1) MR-JE-100C or less

MR-JE-10C to MR-JE-100C do not have D.

When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factory-wired)

MR-JE-10C and MR-JE-20C do not have a built-in regenerative resistor.

When using a regenerative option, disconnect wires of P+ and C for the built-in regenerative resistor. And then connect wires of the regenerative option to P+ and C.

2) MR-JE-200C or more

When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory-wired)

When using a regenerative option, disconnect P+ and D, and connect the regenerative option to

P+ and C.

Refer to section 11.2 for details.

Connect them to the servo motor power supply (U/V/W). Connect the servo amplifier power output

(U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Connect it to the grounding terminal of the servo motor and to the protective earth (PE) of the cabinet for grounding.

3 - 18


3.3.2 Power-on sequence

POINT

The output signal, etc. may be unstable at power-on.

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the power supply (L1/L2/L3). Configure an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) The servo amplifier receives the SON (Servo-on) 2.5 s to 3.5 s after the power supply is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the power supply, the base circuit will switch on in about 2.5 s to 3.5 s, and the RD (Ready) will switch on in further about 5 ms, making the servo amplifier ready to operate. (Refer to (2) in this section.)

3) When RES (Reset) is switched on, the base circuit is shut off and the servo motor shaft coasts.

(2) Timing chart

SON (Servo-on) accepted

(2.5 s to 3.5 s)

Power supply

Base circuit

SON (Servo-on)

RES (Reset)

RD (Ready)

ALM No alarm

(Malfunction)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

No alarm (ON)

Alarm (OFF)

5 ms

2.5 s to 3.5 s

10 ms

95 ms

10 ms 5 ms

10 ms 95 ms

10 ms 5 ms 10 ms

3 - 19


3.3.3 Wiring CNP1

POINT

For the wire sizes used for wiring, refer to section 11.6.

When wiring, remove the power connectors from the servo amplifier.

Insert only one wire or ferrule to each wire insertion hole.

To wire to CNP1, use servo amplifier power connectors packed with the amplifier or optional connectors

(refer to section 11.1.1).

(1) Connector

(a) MR-JE-10C to MR-JE-100C

Servo amplifier

CNP1

Connector

CNP1

Receptacle assembly

Table 3.1 Connector and applicable wire

Size

Applicable wire

Insulator OD

Stripped length [mm]

09JFAT-SAXGDK-H5.0 AWG 18 to 14 3.9 mm or shorter 9

Open tool

J-FAT-OT (N) or

J-FAT-OT

Manufacturer

JST

(b) MR-JE-200C/MR-JE-300C

Servo amplifier

CNP1

CNP2

Connector

CNP1

CNP2

Table 3.2 Connector and applicable wire

Receptacle assembly

06(7-4)JFAT-SAXGFK-XL

03JFAT-SAXGFK-XL

Size

Applicable wire

Insulator OD

AWG 16 to 10 4.7 mm or shorter

Stripped length [mm]

11.5

Open tool

J-FAT-OT-EXL

Manufacturer

JST

3 - 20


(2) Cable connection procedure

(a) Fabrication on cable insulator

Refer to table 3.1 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status.

Insulator

Core

Stripped length

Twist strands lightly and straighten them as follows.

Loose and bent strands Twist and straighten the strands.

You can also use a ferrule to connect with the connectors. When you use a ferrule, use the following ferrules and crimp terminal.

Servo amplifier

MR-JE-10C to

MR-JE-100C

MR-JE-200C to

MR-JE-300C

Wire size

AWG 16

AWG 14

AWG 16

AWG 14

AWG 12

Ferrule model (Phoenix Contact)

For one For two

AI1.5-10BK

AI2.5-10BU

AI1.5-10BK

AI2.5-10BU

AI4-10GY

AI-TWIN2×1.5-10BK

AI-TWIN2×1.5-10BK

AI-TWIN2×2.5-10BU

Crimp terminal

(Phoenix Contact)

CRIMPFOX-ZA3

(b) Inserting wire

Insert only one wire or ferrule to each wire insertion hole.

Insert the open tool as follows and push down it to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the wire insertion depth, and make sure that the cable insulator will not be caught by the spring and that the conductive part of the stripped wire will not be exposed.

Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.

In addition, make sure that no conductor wire sticks out of the connector.

The following shows a connection example of the CNP1 connector.

1) Push down the open tool.

3) Release the open tool to fix the wire.

2) Insert the wire.

3 - 21


3.4 Connectors and pin assignment

POINT

The pin assignment of the connectors is as viewed from the cable connector wiring section.

For the CN3 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

Screw

Cable

Screw

Ground plate

The servo amplifier front view shown is that of the MR-JE-40C or less. Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers.

CN3

CN5 (USB connector)

Refer to section 11.4

CN4

(Battery connector)


CN1

Ethernet connector

9

11

13

5

7

1

3

2

4

6

8

10

12

22

24

26

18

20

14

16

15

17

19

21

23

25

2

LG 4

MRR

1

P5 3

MR

6

5

CN2

7

MD

10

8

MDR

9

BAT

This is a connector of 3M.

CN6

DA

DB

DA

DB

DG DG

SLD SLD

The frames of the CN2 and CN3 connectors are connected to the protective earth terminal in the servo amplifier.

Note. RS-485 communication function can be used only on Modbus RTU.

3 - 22


The device assignment of the CN3 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices can be changed using those parameters.

Pin No.

I/O

(Note 1) P

I/O signals in control modes (Note 2)

P/S S S/T T T/P

Related parameter

1

2

3

4

5

6

7

8

9

21

22

23

24

25

26

17

18

19

20

10

11

12

13

14

15

16

I

I

I

I

I

I

I

I

I

O

O

O

O

I

I

O

O

O

O

O

O

EM2

SON

LSP

EM2

SON

LSP

EM2

SON

LSP

EM2

SON

LSP

EM2

SON

LSP

EM2

SON

LSP

LSN LSN LSN LSN LSN LSN

DICOM DICOM DICOM DICOM DICOM DICOM

PP

PG

PP/-

PG/-

(Note 5) (Note 5) (Note 5)

RES RES/ST1 ST1

TLA

TLA/TLA

(Note 3)

TLA

(Note 3)

ST1/RS2

TLA/TC

(Note 3,

4)

RS2

TC

(Note 4)

-/PP

-/PG

RS2/RES

TC/TLA

(Note 4)

-

LG

LA

LB

LZ

-/VC

(Note 6)

LG

LA

LB

LZ

VC

(Note 6)

LG

LA

LB

LZ

LG

LA

LB

LZ

LG

LA

LB

LZ

LG

LA

LB

LZ

RD

ALM

OP

RD

ALM

OP

RD

ALM

OP

RD

ALM

OP

RD

ALM

OP

RD

ALM

OP

DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM

OPC OPC/- -/OPC

NP

NG

NP/-

NG/-

(Note 5) (Note 5) (Note 5) -/NP

-/NG

CR

INP

LG

LAR

LBR

LZR

CR/ST2

INP/SA

LG

LAR

LBR

LZR

ST2

SA

LG

LAR

LBR

LZR

ST2/RS1 RS1

SA/-

LG

LAR

LBR

LZR

LG

LAR

LBR

LZR

RS1/CR

-/INP

LG

LAR

LBR

LZR

PD05/PD06

PD08/PD09

PD11/PD12

PD23/PD24

PD14/PD15

PC29

PD29

PD30

PD31/PD38

PD26/PD27

PD17/PD18

PD32

Note 1. I: input signal, O: output signal

2. P: position control mode, S: speed control mode, T: torque control mode, P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position control switching mode

3. Set the speed command in speed control mode with [Pr. PC05] to [Pr. PC11]

4. Set the speed limit value in torque control mode with [Pr. PC05] to [Pr. PC11]

5. Input devices are not assigned by default. When using CN3-19 pin as the input device of sink interface, assign the device with [Pr. PD23], [Pr. PD24], [Pr. PD26], and [Pr. PD27] as necessary. In addition, supply + of 24 V

DC to CN3-18 pin (OPC: power input for open-collector sink interface).

6. Set [Pr. PC29] to "VC setting (1 _ _ _)". (Refer to [Pr. PC29] in section 5.2)

3 - 23


3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. In the control mode field of the table

P: position control mode, S: speed control mode, T: torque control mode Torque control mode

: devices used with initial setting status, : devices used by setting [Pr. PA04], [Pr. PD05], [Pr. PD06], [Pr.

PD08], [Pr. PD09], [Pr. PD11], [Pr. PD12], [Pr. PD14], [Pr. PD15], [Pr. PD17], [Pr. PD18], [Pr. PD23], [Pr.

PD24], [Pr. PD26] and [Pr. PD27]

The pin numbers in the connector pin No. column are those in the initial status.

(1) I/O device

(a) Input device

Device Function and application

I/O division

Control mode

P S T

Forced stop 2 DI-1

Forced stop 1

Servo-on

Reset

EM2 CN3-1 Turn off EM2 (open between commons) to decelerate the servo motor to a stop with commands.

Turn EM2 on (short between commons) in the forced stop state to reset that state.

The following shows the setting of [Pr. PA04].

[Pr. PA04] setting EM2/EM1

Deceleration method

EM2 or EM1 is off Alarm occurred

0 _ _ _

2 _ _ _

EM1

EM2

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.



EM1 (CN3-1) When using EM1, set [Pr. PA04] to "0 _ _ _" to enable EM1.

When EM1 is turned off (open between commons), the base circuit shuts off, and the dynamic brake operates to decelerate the servo motor to a stop.

The forced stop will be reset when EM1 is turned on (short between commons).

SON

EM2 and EM1 are mutually exclusive.


RES

CN3-2 Turn SON on to power on the base circuit and make the servo amplifier ready to operate. (servo-on status)

Turn it off to shut off the base circuit and coast the servo motor.

Set "_ _ _ 4" in [Pr. PD01] to switch this signal on (keep terminals connected) automatically in the servo amplifier.

CN3-8 Turn on RES for more than 50 ms to reset the alarm.

Some alarms cannot be deactivated by RES (Reset). Refer to chapter 8.

Turning RES on in an alarm-free status shuts off the base circuit. The base circuit is not shut off when "_ _ 1 _" is set in [Pr. PD35].

This device is not designed to make a stop. Do not turn it on during operation.

DI-1

DI-1

DI-1

3 - 24


Device

Forward rotation stroke end

Reverse rotation stroke end

External torque limit selection

Internal torque limit selection


Reverse rotation start

LSP

LSN

TL

TL1

ST1

ST2

Function and application

CN3-3 To start operation, turn on LSP and LSN. Turn it off to bring the motor to a sudden stop and make it servo-locked.

Setting [Pr. PD35] to "_ _ _ 1" will enable a slow stop.

CN3-4 (Note) Input device Operation

LSP LSN

CCW direction

CW direction

1

0

1

0

1

1

0

0

Note. 0: Off

1: On

Set [Pr. PD01] as indicated below to switch on the signals (keep terminals connected) automatically in the servo amplifier.

[Pr. PD01]

LSP

Status

LSN

_ 4 _ _

Automatic on

_ 8 _ _

_ C _ _

Automatic on

Automatic on

Automatic on

When LSP or LSN is turned off, [AL. 99 Stroke limit warning] occurs, and

WNG (Warning) turns on. When using WNG, enable it by setting [Pr.

PD29] to [Pr. PD32].

Turning off TL will enable [Pr. PA11 Forward torque limit] and [Pr. PA12

Reverse torque limit], and turning on it will enable TLA (Analog torque limit). For details, refer to section 3.6.1 (5).

To select [Pr. PC35 Internal torque limit 2], enable TL1 with [Pr. PD05], [Pr.

PD08], [Pr. PD11], [Pr. PD14], [Pr. PD17], [Pr. PD23] and [Pr. PD26]. For details, refer to section 3.6.1 (5).

This is used to start the servo motor.

The following shows the directions.

(Note) Input device

ST2 ST1

Servo motor starting direction

0

0

1

1

0

1

0

1

Stop (servo-lock)

CCW

CW

Stop (servo-lock)

Note. 0: Off

1: On

If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the [Pr. PC02] setting and servo-locked.

When "_ _ _ 1" is set in [Pr. PC23], the servo motor is not servo-locked after deceleration to a stop.

I/O division

DI-1

Control mode

P S T

DI-1

DI-1

DI-1

3 - 25


Device



RS1

RS2

Speed selection

1

SP1

Speed selection

2

Speed selection

3

SP2

SP3


Select a servo motor torque generation directions.

The following shows the torque generation directions.

(Note) Input device

RS2 RS1

Torque generation direction

0 0

0

1

1

1

0

1

Torque is not generated.

Forward rotation in power running mode/reverse rotation in regenerative mode

Reverse rotation in power running mode/forward rotation in regenerative mode


Note. 0: Off

1: On

1. For speed control mode

Select the command speed for operation.

Input device (Note 1)

SP3 SP2 SP1

Speed command

0

0

0

0

1

1

1

1

0

0

1

1

0

0

1

1

0

1

0

1

0

1

0

1

Pr. PC05 Internal speed command 1/

VC (Analog speed command)

(Note 2)

Pr. PC05 Internal speed command 1







Note 1. 0: Off

1: On

2. When [Pr. PC29] is set to "TC/TLA setting (0 _ _ _)", the value in [Pr. PC05 Internal speed command 1] is applied.

2. For the torque control mode

Select the limited speed for operation.

(Note) Input device

SP3 SP2 SP1

Speed limit

1

1

1

1

0

0

0

0

Note. 0: Off

1: On

1

1

0

0

0

0

1

1

0

1

0

1

0

1

0

1

Pr. PC05 Internal speed limit 1








I/O division

Control mode

P S T

DI-1

DI-1

DI-1

DI-1

3 - 26


Proportion control

Clear

Device

Electronic gear selection 1

Electronic gear selection 2

Gain switching

PC

CR

CM1

CM2

CDP


Turn PC on to switch the speed amplifier from the proportional integral type to the proportional type.

If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion

(stop), switching on the PC (Proportion control) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift.

When the shaft is to be locked for a long time, switch on the PC

(Proportion control) and TL (External torque limit selection) at the same time to make the torque less than the rated by TLA (Analog torque limit).

Do not use PC (Proportional control) in the torque control. When PC

(Proportional control) is used in the torque control, operation may be performed at a speed exceeding the speed limit value.

CN3-21 Turn CR on to clear the position control counter droop pulses on its leading edge. The pulse width should be 10 ms or longer.

The delay amount set in [Pr. PB03 Position command acceleration/deceleration time constant] is also cleared. When "_ _ _ 1" is set to [Pr. PD37], the pulses are always cleared while CR is on.

The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in the parameters.

(Note) Input device

CM2 CM1

Electronic gear numerator

0

0

1

1

0

1

0

1

Pr. PA06

Pr. PC32

Pr. PC33

Pr. PC34

Note. 0: Off

1: On

Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to motor inertia ratio and gain values.

I/O division

DI-1

Control mode

P S T

DI-1

DI-1

DI-1

DI-1

3 - 27


Device

Control switching LOP

Second acceleration/ deceleration selection

STAB2


«Position/speed control switching mode»

This is used to select the control mode in the position/speed control switching mode.

(Note)

LOP

Control mode

0

1

Position

Speed

Note. 0: Off

1: On

«Speed/torque control switch mode»

This is used to select the control mode in the speed/torque control switching mode.

(Note)

LOP

Control mode

0

1

Speed

Torque

Note. 0: Off

1: On

«Torque/position control switch mode»

This is used to select the control mode in the torque/position control switching mode.

(Note)

LOP

Control mode

0

1

Torque

Position

Note. 0: Off

1: On

The device allows selection of the acceleration/deceleration time constants at servo motor rotation in the speed control mode or torque control mode.

The s-pattern acceleration/deceleration time constant is always uniform.

(Note)

STAB2

Acceleration/deceleration time constant

0

1

Pr. PC01 Acceleration time constant

Pr. PC02 Deceleration time constant

Pr. PC30 Acceleration time constant 2

Pr. PC31 Deceleration time constant 2

Note. 0: Off

1: On

I/O division

Control mode

P S T

DI-1 Refer to

Function and application.

DI-1

3 - 28


(b) Output device

Device

Malfunction

Ready

In-position

Speed reached

Limiting speed

Limiting torque

Zero speed detection


ALM CN3-15 When an alarm occurs, ALM will turn off.

When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after power-on.

When [Pr. PD39] is "_ _ 1 _", an alarming or warning will turn off ALM.

RD CN3-14 Enabling servo-on to make the servo amplifier ready to operate will turn on

RD.

INP

SA

CN3-22 When the number of droop pulses is in the preset in-position range, INP will turn on. The in-position range can be changed using [Pr. PA10]. When the in-position range is increased, INP may be on during low-speed rotation.

INP turns on when servo-on turns on.

When the servo motor speed reaches the following range, SA will turn on.

Set speed ± ((Set speed × 0.05) + 20) r/min

When the preset speed is 20 r/min or less, SA always turns on.

SA does not turn on even when the SON (Servo-on) is turned off or the servo motor speed by the external force reaches the preset speed while both ST1 (Forward rotation start) and ST2 (reverse rotation start) are off.

VLC VLC turns on when speed reaches a value limited with any of [Pr. PC05

Internal speed limit 1] to [Pr. PC11 Internal speed limit 7].

This turns off when SON (Servo-on) turns off.

TLC TLC turns on when a generated torque reaches a value set with any of [Pr.

PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA

(Analog torque limit).

ZSP CN3-16 ZSP turns on when the servo motor speed is zero speed (50 r/min) or less.

Zero speed can be changed with [Pr. PC17].

I/O division

Control mode

P S T

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1 rotation direction

OFF level

70 r/min

ON level

0 r/min

1)

2)

3)

20 r/min

(Hysteresis width)

[Pr. PC17]

[Pr. PC17] rotation direction OFF level

-70 r/min

ON

OFF

4)

Electromagnetic brake interlock

MBR

Warning WNG

Battery warning BWNG

ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)), and will turn off when the servo motor is accelerated to 70 r/min again (at

2)).

ZSP will turn on when the servo motor is decelerated again to 50 r/min (at

3)), and will turn off when the servo motor speed has reached -70 r/min (at

4)).

The range from the point when the servo motor speed has reached on level, and ZSP turns on, to the point when it is accelerated again and has reached off level is called hysteresis width.

Hysteresis width is 20 r/min for this servo amplifier.

When using the device, set operation delay time of the electromagnetic brake in [Pr. PC16].

When a servo-off status or alarm occurs, MBR will turn off.

When warning has occurred, WNG turns on. When a warning is not occurring, WNG will turn off in 2.5 s to 3.5 s after power-on.

BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL.

9F Battery warning] has occurred. When the battery warning is not occurring, BWNG will turn off in 2.5 s to 3.5 s after power-on.

DO-1

DO-1

DO-1

3 - 29


Device

Alarm code


ACD0 (CN3-14) To use these signals, set " _ _ _ 1" in [Pr. PD39].

This signal is outputted when an alarm occurs.

ACD1 (CN3-16) When an alarm is not occurring, respective ordinary signals are outputted.

For details of the alarm codes, refer to chapter 8.

ACD2 (CN3-22) When you select alarm code output while MBR or ALM is selected for

CN3-14, CN3-16, or CN3-22 pin, [AL. 37 Parameter error] will occur.

CDPS CDPS turns on during gain switching.

I/O division

Control mode

P S T

DO-1

DO-1 Variable gain selection

Absolute position undetermined

ABSV ABSV turns on when the absolute position is undetermined.

The device cannot be used in the speed control mode and torque control mode.

When a tough drive is enabled in [Pr. PA20], activating the instantaneous power failure tough drive will turn on MTTR.

DO-1

DO-1 During tough drive

(2) Input signal

MTTR

Device

Analog torque limit



TLA

TC

VC


I/O division

Control mode

P S T

CN3-9 To use these signals, set TLA to enabled (0 _ _ _ ) in [Pr. PC29].

To use the signal, enable TL (External torque limit selection) with [Pr.

PD05], [Pr. PD08], [Pr. PD11], [Pr. PD14], [Pr. PD17], [Pr. PD23] and [Pr.

PD26].

When TLA is enabled, torque is limited in the full servo motor output torque range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive terminal of the power supply to TLA. The maximum torque is generated at

+10 V. (Refer to section 3.6.1 (5).)

If a value equal to or larger than the maximum torque is inputted to TLA, the value is clamped at the maximum torque.

Resolution: 10 bits

To use these signals, set TC to enabled (0 _ _ _ ) in [Pr. PC29].

This is used to control torque in the full servo motor output torque range.

Apply 0 V to ±8 V DC between TC and LG. The maximum torque is generated at ±8 V. (Refer to section 3.6.3 (1).) The speed at ±8 V can be changed with [Pr. PC13].

If a value equal to or larger than the maximum torque is inputted to TC, the value is clamped at the maximum torque.

To use these signals, set VC to enabled (1 _ _ _ ) in [Pr. PC29].

Apply 0 V to ±10 V DC between VC and LG. Speed set in [Pr. PC12] is provided at ±10 V. (Refer to section 3.6.2 (1).)

If a value equal to or larger than the permissible speed is inputted to VC, the value is clamped at the permissible speed.

Resolution: 14 bits or equivalent

Analog input

Analog input

Analog input

3 - 30


Device

Forward rotation pulse train

Reverse rotation pulse train

PP

NP

PG

NG

CN3-6

CN3-19

CN3-7

CN3-20


This is used to enter a command pulse train.

The command input pulse train form, pulse train logic, and command input pulse train filter are changed in [Pr. PA13].

For open-collector type, set [Pr. PA13] to "_ 3 _ _".

For differential receiver type, set [Pr. PA13] depending on the maximum input frequency.

1) For open-collector type

The maximum input frequency is 200 kpulses/s. For A-phase/B-phase pulse train, 200 kpulses/s will be the frequency after multiplication by four.

Input the forward rotation pulse train between PP and DOCOM.

Input the reverse rotation pulse train between NP and DOCOM.

2) For differential receiver type

The maximum input frequency is 4 Mpulses/s. For A-phase/B-phase pulse train, 4 Mpulses/s will be the frequency after multiplication by four.

Input the forward rotation pulse train between PG and PP.

Input the reverse rotation pulse train between NG and NP.

I/O division

DI-2

Control mode

P S T

(3) Output signal

Device

Encoder Aphase pulse


Encoder Bphase pulse


Encoder Zphase pulse


Encoder Zphase pulse

(open-collector)

LA

LAR

LB

LBR

LZ

LZR

OP

CN3-11

CN3-24

CN3-12

CN3-25


These devices output pulses of encoder output pulse set in [Pr. PA15] in the differential line driver type.

In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of π/2.

The relation between rotation direction and phase difference of the Aphase and B-phase pulses can be changed with [Pr. PC19].

CN3-13

CN3-26

The encoder zero-point signal is outputted in the differential line driver type. One pulse is outputted per servo motor revolution. This turns on when the zero-point position is reached. (negative logic)

The minimum pulse width is about 400 µs. For home position return using this pulse, set the creep speed to 100 r/min or less.

CN3-16 To use these signals, assign OP to output devices with [Pr. PD38].

The encoder zero-point signal is outputted in the open-collector type.

I/O division

Control mode

P S T

DO-2

DO-2

DO-1

3 - 31


(4) Power supply

Device Function and application

Digital I/F power supply input

Shield

DICOM CN3-5 Input 24 V DC (24 V DC ± 10% 300 mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used.

For sink interface, connect + of 24 V DC external power supply.

For source interface, connect - of 24 V DC external power supply.

OPC CN3-18 When inputting a pulse train in the open-collector type with sink interface, supply this terminal with the positive (+) power of 24 V DC.

Open-collector sink interface power supply input

Digital I/F common

Control common

DOCOM CN3-17 Common terminal of input signal such as EM2 of the servo amplifier. This is separated from LG.

For sink interface, connect - of 24 V DC external power supply.

For source interface, connect + of 24 V DC external power supply.

LG

SD

CN3-10

CN3-23

This is a common terminal for TLA/TC/VC/OP. Pins are connected internally.

Plate Connect the external conductor of the shielded wire.

I/O division

Control mode

P S T

3 - 32


3.6 Detailed explanation of signals

3.6.1 Position control mode

POINT

Adjust the logic of a positioning module and command pulse as follows.

MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series positioning module

Signal type

Command pulse logic setting

Positioning module

Pr. 23 setting

MR-JE-_C servo amplifier

[Pr. PA13] setting

Open-collector type

Positive logic

Negative logic

Positive logic (_ _ 0 _)

Negative logic (_ _ 1 _)

Differential line driver type

Positive logic (Note)

Negative logic (Note)

Negative logic (_ _ 1 _)

Positive logic (_ _ 0 _)

Note. For MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series, the logic means N-side waveform. Therefore, reverse the input pulse logic of the servo amplifier.

MELSEC-F series positioning module

Signal type

Command pulse logic setting

Positioning module (fixed)

MR-JE-_C servo amplifier

[Pr. PA13] setting

Open-collector type

Differential line driver type

Negative logic Negative logic (_ _ 1 _)

(1) Pulse train input

(a) Input pulse waveform selection

You can input command pulses in any of three different forms, and can choose positive or negative logic. Set the command pulse train form in [Pr. PA13]. Refer to section 5.2.1 for details.

(b) Connection and waveform

1) Open-collector type

Connect as follows.

Servo amplifier

24 V DC

OPC

(Note)

DOCOM

PP

Approximately

1.2 k Ω

NP

Approximately

1.2 k Ω

SD

Note. Pulse train input interface is comprised of a photocoupler.

If a resistor is connected to the pulse train signal line, it may malfunction due to reduction in current.

3 - 33


The following section explains about the case where the negative logic and the forward/reverse rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13].

(ON) (OFF) (ON) (OFF) (ON) (OFF)


(transistor)


(transistor) (OFF) (ON) (OFF) (ON) (OFF) (ON)

Forward rotation command Reverse rotation command

2) Differential line driver type

Connect as follows.

(Note)

Servo amplifier

PP

Approximately

100 Ω

PG

NP

Approximately

100 Ω

NG

SD



The following example shows that an input waveform has been set to the negative logic and forward/reverse rotation pulse trains by setting "_ _ 1 0" in [Pr. PA13]. The waveforms of PP, PG,

NP, and NG are based on LG.


PP

PG


NP

NG

Forward rotation Reverse rotation

3 - 34


(2) INP (In-position)

INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position range ([Pr. PA10]). INP may turn on continuously during a low-speed operation with a large value set as the in-position range.

SON (Servo-on)

ON

OFF

Alarm

Alarm

No alarm

Droop pulses

In-position range

INP (In-position)

ON

OFF

(3) RD (Ready)

SON (Servo-on)

Alarm

RD (Ready)

ON

OFF

Alarm

No alarm

ON

OFF

10 ms or shorter 10 ms or shorter

(4) Electronic gear switching

The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in the parameters.

As soon as CM1/CM2 is turned on or off, the numerator of the electronic gear changes. Therefore, if a shock occurs at switching, use the position smoothing ([Pr. PB03]) to relieve the shock.

(Note) Input device

CM2 CM1


0

0

1

1

0

1

0

1

Note. 0: Off

1: On

Pr. PA06

Pr. PC32

Pr. PC33

Pr. PC34

3 - 35


(5) Torque limit

CAUTION

If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect to the command position.

When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio] is set properly. Improper settings may cause an unexpected operation such as an overshoot.

POINT

Setting "TC/TLA setting (0 _ _ _)" (initial value) in [Pr. PC29] will enable the analog torque limit.

Setting "VC setting (1 _ _ _)" in [Pr. PC29] will disable the analog torque limit.

(a) Torque limit and torque

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is always limited to the maximum value during operation. A relation between the limit value and servo motor torque is as follows.

CW direction CCW direction

100

Torque limit value in [Pr. PA12]

Torque limit value in [Pr. PA11]

100 [%]

A relation between the applied voltage of TLA (Analog torque limit) and the torque limit value of the servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently.

Therefore, use this function at the voltage of 0.05 V or more.

Maximum torque

Servo amplifier

±5%

0

0 0.05

TLA applied voltage [V]

TLA applied voltage vs. torque limit value

0 V to +10 V

24 V DC

TL

DICOM

TLA

LG

SD

(Note)

Connection example

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

3 - 36


(b) Torque limit value selection

The following shows how to select a torque limit using TL (External torque limit selection) from [Pr.

PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and TLA (Analog torque limit).

When TL1 (Internal torque limit selection) is enabled with [Pr. PD05] to [Pr. PD27], select [Pr. PC35

Internal torque limit 2].

However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr.

PA11] and [Pr. PA12] value will be enabled.


TL1

0

TL

0

Limit value status

Enabled torque limit value

CCW power running/CW regeneration

CW power running/CCW regeneration

Pr. PA11 Pr .PA12

0

1

1

1

0

1

TLA

TLA

Pr. PC35

Pr. PC35

TLA

TLA

>

<

>

<

>

<

Pr. PA11

Pr. PA12

Pr. PA11

Pr. PA12

Pr. PA11

Pr. PA12

Pr. PA11

Pr. PA12

Pr. PC35

Pr. PC35

Pr. PA11

TLA (Note 2)

Pr. PA11

Pr. PC35 (Note 2)

Pr. PC35 (Note 2)

TLA (Note 2)

Pr. PA12

TLA (Note 3)

Pr. PA12

Pr. PC35 (Note 3)

Pr. PC35 (Note 3)

TLA (Note 3)

Note 1. 0: Off

1: On

2. When [Pr. PD38] is set to "_ 2 _ _", the value in [Pr. PA11] is applied.

3. When [Pr. PD38] is set to "_ 1 _ _", the value in [Pr. PA12] is applied.

(c) TLC (Limiting torque)

TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit, reverse rotation torque limit or analog torque limit.

3 - 37


3.6.2 Speed control mode

POINT

Setting "TC/TLA setting (0 _ _ _)" (initial value) in [Pr. PC29] will enable driving the motor by the internal speed command. Note that analog torque limit is available.

Setting "VC setting (1 _ _ _)" in [Pr. PC29] will enable driving the motor by the analog speed command. Note that analog torque limit is unavailable.

(1) Speed setting

(a) Speed command and speed

The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of VC (Analog speed command). A relation between VC (Analog speed command) applied voltage and the servo motor speed is as follows.

Rated speed is achieved at ±10 V with initial setting. The speed at ±10 V can be changed with [Pr.

PC12].

Rated speed [r/min]

CW

-10

Speed

[r/min] direction

CCW direction

0 +10

VC applied voltage [V]

Rated speed [r/min]

Reverse rotation

(CW)

The following table indicates the rotation direction according to ST1 (Forward rotation start) and ST2

(Reverse rotation start) combination.

(Note 1) Input device

ST2 ST1

Polarity: +

Rotation direction (Note 2)

VC (Analog speed command) (Note 3)

0 V Polarity: -

Internal speed command

0

0

1

1

0

1

0

1

Stop

(servo-lock)

CCW

CW

Stop

(servo-lock)

Stop

(servo-lock)

Stop

(no servo-lock)

Stop

(servo-lock)

Stop

(servo-lock)

CW

CCW

Stop

(servo-lock)

Stop

(servo-lock)

CCW

CW

Stop

(servo-lock)

Note 1. 0: Off

1: On

2. If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect to the command position.

3. Available when "VC command (1 _ _ _)" is selected in [Pr. PC29]. (Refer to [Pr. PC29] in section 5.2)

3 - 38


Normally, connect as follows.

-10 V to +10 V

24 V DC

Servo amplifier

ST1

ST2

DICOM

VC

LG

SD

(Note)


(b) Speed command value selection

To select VC (Analog speed command) and a speed command value of internal speed commands 1 to 7, enable SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with

[Pr. PD05] to [Pr. PD27].


SP3 SP2 SP1

Speed command value

0

0

0

0

1

1

1

1

0

0

1

1

0

0

1

1

0

1

0

1

0

1

0

1

Pr. PC05 Internal speed command 1/

VC (Analog speed command)

(Note 2, 3)








Note 1. 0: Off

1: On

2. Available when "VC command (1 _ _ _)" is selected in [Pr. PC29]. (Refer to [Pr.

PC29] in section 5.2)

3. When [Pr. PC29] is set to "TC/TLA setting (0 _ _ _)", the value in [Pr. PC05

Internal speed command 1] is applied.

You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration time constant in [Pr. PC01] or [Pr. PC02].

When the internal speed commands are used to command a speed, the speed does not vary with the ambient temperature.

3 - 39


(2) SA (Speed reached)

SA turns on when the servo motor speed has nearly reached the speed set to the internal speed command or analog speed command.

Set speed selection

ST1 or ST2

Servo motor speed

ON

OFF

(3) Torque limit

When "VC setting (1 _ _ _)" is set in [Pr. PC29], the analog torque limit is not available. Use the internal torque limit. When "TC/TLA setting (0 _ _ _)" (initial value) is set in [Pr. PC29], it is the same as section

3.6.1 (5).

3 - 40


3.6.3 Torque control mode

(1) Torque limit

(a) Torque command and torque

The following shows a relation between the applied voltage of TC (Analog torque command) and the torque by the servo motor.

The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13].

Maximum torque

-8

Torque

-0.05

CCW direction

+0.05

+8

TC applied voltage [V]

CW direction Maximum torque

Forward rotation

(CCW)

Reverse rotation

(CW)

Generated torque command values will vary about 5% relative to the voltage depending on products.

The torque may vary if the voltage is low (-0.05 V to 0.05 V) and the actual speed is close to the limit value. In such a case, increase the speed limit value.

The following table indicates the torque generation directions determined by RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) when TC (Analog torque command) is used.

Input device (Note)

RS2 RS1

0

0

1

0

1

0

1

Polarity: +


CCW

(Forward rotation in power running mode/reverse rotation in regenerative mode)

CW

(Reverse rotation in power running mode/forward rotation in regenerative mode)


Rotation direction

TC (Analog torque command)

0 V


Polarity: -


CW

(Reverse rotation in power running mode/forward rotation in regenerative mode)

CCW

(Forward rotation in power running mode/reverse rotation in regenerative mode)

Torque is not generated. 1

Note. 0: Off

1: On


24 V DC

-8 V to 8 V

Servo amplifier

RS1

RS2

DICOM

TC

LG

SD

(Note)


3 - 41


(b) Analog torque command offset

Using [Pr. PC38], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage as follows.

Maximum torque

Torque

[Pr. PC38] offset range

-9999 mV to 9999 mV

0 8 (-8)

TC applied voltage [V]

(2) Torque limit

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is always limited to the maximum value during operation. A relation between limit value and servo motor torque is as in section 3.6.1 (5).

Note that TLA (Analog torque limit) is unavailable.

(3) Speed limit

(a) Speed limit value and speed

The speed is limited to the values set with [Pr. PC05 Internal speed limit 1] to [Pr. PC11 Internal speed limit 7].

The following table indicates the limit direction according to RS1 (Forward rotation selection) and

RS2 (Reverse rotation selection) combination.

Input device (Note)

RS1 RS2

Speed limit direction

1

0

0

1

CCW

CW

Note. 0: Off

1: On

(b) Speed limit value selection

To select a speed limit value of internal speed limit 1 to 7, enable SP1 (Speed selection 1), SP2

(Speed selection 2), and SP3 (Speed selection 3) with [Pr. PD05] to [Pr. PD27].

SP3

Input device (Note)

SP2 SP1

1

1

1

1

0

0

0

0

0

0

1

1

0

0

1

1

0

1

0

1

0

1

0

1

Speed limit









Note. 0: Off

1: On

When the internal speed limits 1 to 7 are used to limit a speed, the speed does not vary with the ambient temperature.

3 - 42


(c) VLC (Limiting speed)

VLC turns on when the servo motor speed reaches a speed limited with internal speed limits 1 to 7.

3.6.4 Position/speed control switching mode

Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode.

(1) LOP (control switching)

Use LOP (Control switching) to switch between the position control mode and the speed control mode with an external contact. The following shows a relation between LOP and control modes.

(Note)

LOP

Control mode

0

1


Speed control mode

Note. 0: Off

1: On

You can switch the control mode in the zero speed status. To ensure safety, switch modes after the servo motor has stopped. When position control mode is switched to speed control mode, droop pulses will be reset.

If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed regardless of the speed. The following shows a switching timing chart.

Servo motor speed

Zero speed level

ZSP

(Zero speed detection)

ON

OFF

LOP

(Control switching)

ON

OFF

(Note) (Note)

Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not

(2) Torque limit in position control mode

As in section 3.6.1 (5) switched.

3 - 43


(3) Speed setting in speed control mode

(a) Speed command and speed

The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same as section 3.6.2 (1) (a).


Servo amplifier

-10 V to +10 V

24 V DC

ST1

ST2

DICOM

VC

LG

SD

(Note)


(b) Speed command value selection

To select a speed command value of internal speed commands 1 to 7, enable SP1 (Speed selection

1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with [Pr. PD05] to [Pr. PD27].

SP3

Input device (Note)

SP2 SP1

1

1

1

1

0

0

0

0

0

0

1

1

0

0

1

1

0

1

0

1

0

1

0

1

Note. 0: Off

1: On

Speed command value









You can change the speed during rotation. Acceleration/deceleration is performed with the setting values of [Pr. PC01] and [Pr. PC02].

When the internal speed commands 1 to 7 are used to command a speed, the speed does not vary with the ambient temperature.

(c) SA (Speed reached)

As in section 3.6.2 (2)

3 - 44


3.6.5 Speed/torque control switching mode

POINT

To use this mode, select "TC/ TLA setting (0 _ _ _)" (initial value) in [Pr. PC29].

"Speed/torque control switching (_ _ _ 3)" in [Pr. PA01] cannot be selected when

"VC setting (1 _ _ _)" is selected in [Pr. PC29]. When this is selected, [AL. 37

Parameter error] occurs.

Set " _ _ _ 3" in [Pr. PA01] to switch to the speed/torque control switching mode.


Use LOP (Control switching) to switch between the speed control mode and the torque control mode with an external contact. The following shows a relation between LOP and control modes.

(Note)

LOP

Control mode

0

1

Speed control mode

Torque control mode

Note. 0: Off

1: On

The control mode may be switched at any time. The following shows a switching timing chart.

Speed control mode

Torque control mode

Speed control mode

LOP

(Control switching)

ON

OFF

Servo motor speed

(Note)

Load torque

TC

(Analog torque command)

10V

0

Note. When ST1 (Forward rotation start) and ST2 (Reverse rotation start) are switched off as soon as a mode is switched to the speed control, the servo motor comes to a stop according to the deceleration time constant. A shock may occur at switching control modes.

(2) Speed setting in speed control mode

As in section 3.6.2 (1) VC (Analog speed command) cannot be used.

(3) Torque limit in speed control mode


(4) Speed limit in torque control mode

(a) Speed limit value and speed

The speed is limited to the limit value set in the parameter.

3 - 45


(b) Speed limit value selection

To select a speed limit value of internal speed limit 1 to 7, enable SP1 (Speed selection 1), SP2

(Speed selection 2), and SP3 (Speed selection 3) with [Pr. PD05] to [Pr. PD27].

SP3

Input device (Note)

SP2 SP1

Speed limit

0

0

0

0

1

1

1

1

0

0

1

1

0

0

1

1

0

1

0

1

0

1

0

1









Note. 0: Off

1: On

When the internal speed command 1 is used to command a speed, the speed does not vary with the ambient temperature.

(c) VLC (Limiting speed)

As in section 3.6.3 (3) (c)

(5) Torque control in torque control mode


(6) Torque limit in torque control mode


3 - 46


3.6.6 Torque/position control switching mode

POINT

To use this mode, select "TC/ TLA setting (0 _ _ _)" (initial value) in [Pr. PC29].

"Torque/position control switching (_ _ _ 5)" in [Pr. PA01] cannot be selected when "VC setting (1 _ _ _)" is selected in [Pr. PC29]. When this is selected, [AL.

37 Parameter error] occurs.

Set "_ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode.


Use LOP (Control switching) to switch between the torque control mode and the position control mode with an external contact. The following shows a relation between LOP and control modes.

(Note)

LOP

Control mode

0

1

Torque control mode


Note. 0: Off

1: On

You can switch the control mode in the zero speed status. To ensure safety, switch modes after the servo motor has stopped. When position control mode is switched to torque control mode, droop pulses will be reset.

If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed regardless of the speed. The following shows a switching timing chart.


Torque control mode


Servo motor speed

Zero speed level

ZSP (Zero speed detection)

10 V

TC (Analog torque command)

0 V

ON

OFF

LOP

(Control switching)

ON

OFF

(Note) (Note)

Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not switched.

(2) Speed limit in torque control mode


3 - 47


(3) Torque control in torque control mode


(4) Torque limit in torque control mode


(5) Torque limit in position control mode


3.7 Forced stop deceleration function

POINT

When alarms not related to the forced stop function occur, control of motor deceleration cannot be guaranteed. (Refer to chapter 8.)

In the torque control mode, the forced stop deceleration function is not available.

Disable the forced stop deceleration function for a machine in which multiple axes are connected together, such as a tandem structure. If an alarm occurs with the forced stop deceleration function disabled, the servo motor will stop with the dynamic brake.

Maintain servo-on when EM2 (Forced stop 2) is off. In case of servo-off, forced stop deceleration, base cut-off delay and vertical axis freefall prevention will not function.

3.7.1 Forced stop deceleration function

When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.

During this sequence, the display shows [AL. E6 Servo forced stop warning].

During normal operation, do not use EM2 (Forced stop 2) to alternate stop and drive. The servo amplifier life may be shortened.

(1) Connection diagram

Servo amplifier

24 V DC

(Note)

Forced stop 2

DICOM

EM2

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section

3.9.3.

3 - 48


(2) Timing chart

POINT

When LSP/LSN is turned on during a forced stop deceleration, the motor will stop depending on the setting of [Pr. PD35] as follows.

[Pr. PD35] Stop system

_ _ _ 0 Switching to sudden stop

_ _ _ 1 Continuing forced stop deceleration

When EM2 (Forced stop 2) is turned off, the motor will decelerate according to [Pr. PC51 Forced stop deceleration time constant]. Once the motor speed is below [Pr. PC17 Zero speed] after completion of the deceleration command, base power is cut and the dynamic brake activates.

EM2 (Forced stop 2)

ON

OFF (Enabled)

Ordinary operation

Forced stop deceleration

Dynamic brake

+


Rated speed

Servo motor speed

0 r/min

Command

Deceleration time

[Pr. PC51]

Zero speed

([Pr. PC17])

Base circuit

(Energy supply to the servo motor)

MBR

(Electromagnetic brake interlock)

Servo-on command

(Note 2)

ON

OFF

ON

OFF (Enabled)

Servo-on

Servo-off

(Note 1)

Note 1. Shut off the base circuit of the servo amplifier, then shut the servo off.

2. In the profile mode and when using the positioning mode with the communication interface, issuing a command from the master station (controller) to the servo amplifier enables servo-on/servo-off.

Servo-on: Enable Operation command is issued

Servo-off: Disable Operation command is issued

3 - 49


3.7.2 Base circuit shut-off delay time function

The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop

(EM2 goes off) or alarm occurrence due to delay time of the electromagnetic brake. Use [Pr. PC16] to set the delay time between completion of EM2 (Forced stop 2) or activation of MBR (Electromagnetic brake interlock) due to an alarm occurrence, and shut-off of the base circuit.

(1) Timing chart

When EM2 (Forced stop 2) turns off or an alarm occurs during driving, the servo motor will decelerate based on the deceleration time constant. MBR (Electromagnetic brake interlock) will turn off, and then after the delay time set in [Pr. PC16], the servo amplifier will be base circuit shut-off status.

EM2 (Forced stop 2)

ON

OFF (Enabled)

Servo motor speed

0 r/min

Base circuit


MBR



Servo-on command

(Note 2)

ON

OFF

ON

OFF (Enabled)

Release

Activate

Servo-on

Servo-off

[Pr. PC16]

(Note 1)





(2) Adjustment

While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay time in [Pr. PC16], and set the value to approximately 1.5 times of the smallest delay time in which the servo motor shaft does not freefall.

3 - 50


3.7.3 Vertical axis freefall prevention function

The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the following case.

When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the base circuit shut-off delay time function avoid dropping axis at forced stop. However, the functions may not avoid dropping axis a few µm due to the backlash of the servo motor electromagnetic brake.

The vertical axis freefall prevention function is enabled with the following conditions.

Other than "0" is set to [Pr. PC54 Vertical axis freefall prevention compensation amount].

The servo motor speed decelerates lower than the value of zero speed by turning off EM2 (Forced stop

2) or by an alarm occurrence.

The base circuit shut-off delay time function is enabled.

EM2 (Forced stop 2) turned off or an alarm occurred while the servo motor speed is zero speed or less.

(1) Timing chart

EM2 (Forced stop 2)

ON

OFF (Enabled)

Position Travel distance

Set the base circuit shut-off delay time.

([Pr. PC16])

Base circuit


MBR



Servo-on command

(Note 2)

ON

OFF

ON

OFF (Enabled)

Release

Activate

Servo-on

Servo-off

(Note 1)




(2) Adjustment


Set the freefall prevention compensation amount in [Pr. PC54].

While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off delay time in [Pr. PC16] in accordance with the travel distance ([Pr. PC54). Adjust it considering the freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.

3.7.4 Residual risks of the forced stop function (EM2)

(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms occur.

(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking distance until the servo motor stops will be longer than that of normal forced stop deceleration without the dynamic brake.

3 - 51


3.8 Alarm occurrence timing chart

CAUTION

When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation.

POINT


To deactivate an alarm, cycle the power, push the "SET" button in the current alarm window, or cycle the

RES (Reset) However, the alarm cannot be deactivated unless its cause is removed.

3.8.1 When you use the forced stop deceleration function

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

Disable the forced stop deceleration function for a machine in which multiple axes are connected together, such as a tandem structure. If an alarm occurs with the forced stop deceleration function disabled, the servo motor will stop with the dynamic brake.

(1) When the forced stop deceleration function is enabled

Alarm occurrence

Servo motor speed

(Note)

Model speed command 0 and equal to or less than zero speed

0 r/min

Command is not received.

Base circuit


Servo amplifier display

MBR


ALM (Malfunction)

ON

OFF

ON

OFF (Enabled)

ON (no alarm)

OFF (alarm)

No alarm Alarm No.

Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

3 - 52


(2) When the forced stop deceleration function is not enabled

Alarm occurrence

Servo motor speed

Braking by the dynamic brake

Dynamic brake

+ Braking by the electromagnetic brake

0 r/min

Base circuit



MBR


ALM (Malfunction)

ON

OFF

No alarm Alarm No.

Operation delay time of the electromagnetic brake

ON

OFF (Enabled)

ON (no alarm)

OFF (alarm)

3.8.2 When you do not use the forced stop deceleration function

POINT

To disable the function, set "0 _ _ _" in [Pr. PA04].

The operation status during an alarm is the same as section 3.8.1 (2).

3 - 53


3.9 Interfaces

3.9.1 Internal connection diagram

The following diagram is for sink I/O interface when command pulse train input is differential line driver type.

Servo amplifier

(Note 3)

(Note 2)

(Note 1)

P S T

SON SON SON

RES ST1 RS2

RS1 CR ST2

EM2

LSP

LSN

OPC

LSP

LSN

CN3

2

8

3

4

21

1

18

Approx.

6.2 k Ω

Approx.

6.2 k Ω

PP

PG

NP

NG

6

7

19

20

Approx. 100 Ω

Approx.

1.2 k Ω

Approx. 100 Ω

Approx.

1.2 k Ω

Insulated

CN3

17

(Note 1)

P S

DOCOM

T

16 OP OP OP

22

15

INP SA

ALM

14

5

RD RD

DICOM

RD

RA

RA

(Note 3)

(Note 1)

P S T CN3

TLA TLA TC

LG

SD

9

10

Case

(Note 1)

25

13

26

23

CN3 P S

11

24

12

LA

LAR

LB

LBR

LZ

LZR

LG

T

Differential line

(35 mA or lower)

USB

(Note 1)

P S

D-

D+

GND

T CN5

2

3

5

(Note 1)

CN2 P S

7

8

3

MD

MDR

MR

4

2

MRR

LG

T

E

Servo motor

Encoder

M

CN6

DA

(Note 5)

DB

DG

SLD

CN6 (Note 5)

DA

DB

DG

SLD

3 - 54


Note 1. P: position control mode, S: speed control mode, T: torque control mode

2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.

24 V DC

DOCOM

OPC

DICOM

DOCOM

PP

PG

NP

NG

19

20

6

7

46

18

5

17



5. When the RS - 485 communication function is used and if this servo amplifier is the last axis, connect a 150 Ω resistor between DA and DB, and terminate the servo amplifier. For details, refer to "MR-JE-_C Servo Amplifier Instruction Manual

(Network)".

3 - 55


3.9.2 Detailed explanation of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external device.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is input terminal. Transmit signals from sink

(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink input. Refer to section 3.9.3 for source input.

For transistor

Approximately

5 mA

EM2 etc.

Servo amplifier

Switch

Approximately

6.2 k Ω

TR

DICOM

I

V

CES

CEO

1.0 V

100 A

24 V DC ± 10%

300 mA

The following shows when the CN3-6 pin and the CN3-19 pin are used as digital input interface:

Servo amplifier

24 V DC ± 10%

300 mA

OPC

Approximately

Ω

10 m or less

Approximately

20 mA

CN3-6, CN3-19

V

CES

I

CEO

≤ 1.0 V

≤ 100 A

DOCOM

SD

(2) Digital output interface DO-1

This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal.

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load.

(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in the servo amplifier.

The following shows a connection diagram for sink output. Refer to section 3.9.3 for source output.

Servo amplifier

ALM etc.

Load

If polarity of diode is reversed, servo amplifier will malfunction.

DOCOM

(Note) 24 V DC ± 10%

300 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.

3 - 56


(3) Pulse train input interface DI-2

Give a pulse train signal in the differential line driver type or open-collector type.

(a) Differential line driver type

1) Interface

Servo amplifier

(Note 1)

10 m or less

Max. input pulse frequency 4 Mpulses/s

(Note 2)

PP (NP)

Approximately

PG (NG)

100 Ω

Am26LS31 or equivalent

V

V

OH

OL

: 2.5 V

: 0.5 V

SD

Note 1. Pulse train input interface is comprised of a photocoupler.


2. When the input pulse frequency is 4 Mpulses/s, set [Pr. PA13] to "_ 0 _ _".

2) Input pulse condition tc tHL

PP PG

0.9

0.1

tc tLH tF tLH = tHL < 50 ns tc > 75 ns tF > 3 µs

NP NG

(b) Open-collector type

1) Interface

(Note)

24 V DC

2 m or less

OPC

Servo amplifier

Max. input pulse frequency 200 kpulses/s

Approximately

1.2 k Ω

PP, NP

DOCOM

SD



3 - 57


2) Input pulse condition

PP

0.9

0.1

tc tHL tc tLH tF tLH = tHL < 0.2 µs tc > 2 µs tF > 3 µs

NP

(4) Encoder output pulse DO-2 (Differential line driver type)

(a) Interface

Maximum output current: 35 mA

Servo amplifier

LA

(LB, LZ) Am26LS32 or equivalent

Servo amplifier

LA

(LB, LZ)

150 Ω

LAR

(LBR, LZR)

SD

LG

LAR

(LBR, LZR)

SD

100 Ω

High-speed photocoupler

(b) Output pulse

LA

Servo motor CCW rotation

LAR

LB

T

LBR

/2

LZ

LZR

OP

400 s or more

Time cycle (T) is determined by the settings of

[Pr. PA15] and [Pr. PC19].

(5) Analog input

Input impedance

10 kΩ to 12 kΩ

Servo amplifier

VC etc.

LG

Approx.

10 k Ω

SD

3 - 58


3.9.3 Source I/O interfaces

In this servo amplifier, source type I/O interfaces can be used.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.

For transistor

Servo amplifier

EM2 etc.

TR Switch

Approximately

6.2 k Ω

DICOM

Approximately

5 mA

V

CES

I

CEO

≤

≤ 1.0 V

100 µA

24 V DC ± 10%

300 mA

(2) Digital output interface DO-1

This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, the current will flow from the output terminal to a load.

A maximum of 2.6 V voltage drop occurs in the servo amplifier.

Servo amplifier

ALM etc.

Load

If polarity of diode is reversed, servo amplifier will malfunction.

DOCOM

(Note) 24 V DC ± 10%

300 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage (maximum of 26.4 V) from external source.

3 - 59


3.10 Servo motor with an electromagnetic brake

3.10.1 Safety precautions

Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM

(Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

RA

B

U

24 V DC


CAUTION The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.

Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly.

Do not use the 24 V DC interface power supply for the electromagnetic brake.

Always use the power supply designed exclusively for the electromagnetic brake.

Otherwise, it may cause a malfunction.

When using EM2 (Forced stop 2), use MBR (Electromagnetic brake interlock) for operating the electromagnetic brake. Operating the electromagnetic brake without using MBR during deceleration to a stop will saturate servo motor torques at the maximum value due to brake torques of the electromagnetic brake and can result in delay of the deceleration to a stop from a set value.

POINT

Refer to "HG-KN/HG-SN Servo Motor Instruction Manual" for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Refer to "HG-KN/HG-SN Servo Motor Instruction Manual" for the selection of a surge absorber for the electromagnetic brake.

Note the following when the servo motor with an electromagnetic brake is used.

1) The brake will operate when the power (24 V DC) turns off.

2) The status is base circuit shut-off during RES (Reset) on. When you use the motor in vertical axis system, use MBR (Electromagnetic brake interlock).

3) Turn servo-off after the servo motor has stopped.

3 - 60


(1) Connection diagram

Servo amplifier

(Note 2)

24 V DC

DOCOM

MBR

RA1

24 V DC

MBR

RA1

ALM

(Malfunction)

(Note 1)

B1

U

B2

Servo motor

B

Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.

2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

(2) Setting

(a) Enable MBR (Electromagnetic brake interlock) with [Pr. PD05] to [Pr. PD27].

(b) In [Pr. PC16 Electromagnetic brake sequence output], set a delay time (Tb) from MBR

(Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in section 3.10.2 (1).

3 - 61


3.10.2 Timing chart

(1) When you use the forced stop deceleration function

POINT

To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(a) Servo-on/Servo-off

When the servo is turned off, servo lock is released after Tb [ms] and the motor goes into freerunning state. If the electromagnetic brake is enabled during servo-lock, the brake life may be shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not drop down for a vertical axis system, etc.

Tb [Pr. PC16 Electromagnetic brake sequence output]

Servo motor speed 0 r/min

Base circuit

Servo-on command

(Note 5)

ON

OFF

MBR


(Note 1)

ON

OFF

Servo-on

Servo-off

Approx. 95 ms

Approx. 95 ms

(Note 3)


Position command

(Note 4)


0 r/min

Release

Activate Release delay time and external relay, etc. (Note 2)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.

2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay. For the release delay time of electromagnetic brake, refer to "HG-KN/HG-SN Servo Motor Instruction

Manual".

3. Give a position command after the electromagnetic brake is released.

4. This is in position control mode.




3 - 62


(b) Forced stop 2 on/off

POINT


Maintain servo-on when EM2 (Forced stop 2) is off. When the servo turns off before EM2 (Forced stop 2), the operation state of the servo amplifier is the same as (1) (a) in this section.

Servo motor speed

0 r/min

Model speed command 0 and equal to or less than zero speed (Note 2)


Base circuit


EM2 (Forced stop 2)

MBR


ON

OFF

ON

OFF

(Note 1)

ON

OFF

ALM (Malfunction)

ON (no alarm)

OFF (alarm)


Servo-on command

(Note 4)

Release

Activate

Servo-on

Servo-off


(Note 3)

Note 1. ON: Electromagnetic brake is not activated.


2. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

3. Shut off the base circuit of the servo amplifier, then shut the servo off.




3 - 63


(c) Alarm occurrence

1) When the forced stop deceleration function is enabled

Alarm occurrence

Servo motor speed

0 r/min

Command is not received.

and equal to or less than zero speed (Note 1)


Base circuit



MBR


ALM (Malfunction)


Servo-on command

(Note 3)

ON

OFF

ON

OFF

ON (no alarm)

OFF (alarm)

Release

Activate

Servo-on

Servo-off

No alarm Alarm No.

(Note 2)


Note 1. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor.

2. Shut off the base circuit of the servo amplifier, then shut the servo off.




2) When the forced stop deceleration function is disabled

The operation status is the same as section 3.8.1 (2).

3 - 64


(d) Power off

Servo motor speed

Base circuit

0 r/min

ON

OFF

MBR


Alarm

[AL. 10 Undervoltage]

(Note 2)

ON

OFF

No alarm

Alarm

Power supply

ON

OFF

Approx. 10 ms

Dynamic brake

Dynamic brake

+ Electromagnetic brake


(Note 1)


Note 1. Variable according to the operation status.

2. ON: Electromagnetic brake is not activated.


(2) When you do not use the forced stop deceleration function

POINT

To disable the function, set "0 _ _ _" in [Pr. PA04].

(a) Servo-on/Servo-off

It is the same as (1) (a) in this section.

(b) EM1 (Forced stop 1) on/off

Servo motor speed

Dynamic brake

Dynamic brake

+ Electromagnetic brake


Electromagnetic brake has released.

Base circuit

0 r/min

ON

OFF

Approx. 10 ms Approx. 210 ms

Approx. 210 ms

MBR


(Note)

ON

OFF


EM1 (Forced stop)

ON (disabled)

OFF (enabled)

Note. ON: Electromagnetic brake is not activated.


(c) Alarm occurrence

The operation status during an alarm is the same as section 3.8.2.

(d) Power off

It is the same as (1) (d) in this section.

3 - 65


3.11 Grounding

WARNING


To prevent an electric shock, always connect the protective earth (PE) terminal

(marked ) of the servo amplifier to the protective earth (PE) of the cabinet.

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.

To conform to the EMC Directive, refer to "EMC Installation Guidelines".

Cabinet

Servo amplifier

Servo motor

MCCB MC

CN2

(Note)

Power supply

L1

L2

L3

Encoder

U

V

W

U

V

W

M

CN3

Ensure to connect the wire to the PE terminal of the servo amplifier.

Do not connect the wire directly to the grounding of the cabinet.

Protective earth (PE)

Outer box

Note. For the power supply specifications, refer to section 1.3.

3 - 66

4. STARTUP

4. STARTUP

WARNING

When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.

Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.

CAUTION

Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly.

The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.

Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.

4 - 1

4. STARTUP

4.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

4.1.1 Startup procedure

Wiring check

Surrounding environment check

Parameter setting

Test operation of the servo motor alone in test operation mode

Test operation of the servo motor alone by commands

Network setting check

Test operation with the servo motor and machine connected

Gain adjustment

Actual operation

Stop

Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (section 4.7.1), etc. (Refer to section 4.1.2.)

Check the surrounding environment of the servo amplifier and servo motor.

(Refer to section 4.1.3.)

Set the parameters as necessary, such as the used operation mode and regenerative option selection. (Refer to chapter 5, and sections 4.2.4, 4.3.4, and 4.4.4.)

For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.)

For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly.

Check the network setting to connect the controller.

For network setting, refer to "MR-JE-_C Servo Amplifier Instruction Manual

(Network)".

After connecting the servo motor with the machine, check machine motions with sending operation commands from the controller.

Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Stop giving commands and stop operation. Other conditions that stop the servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2.

4 - 2

4. STARTUP

4.1.2 Wiring check

(1) Power supply system wiring

Before switching on the power supply, check the following items.

(a) Power supply system wiring

The power supplied to the power input terminals (L1/L2/L3) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.)

(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U/V/W) should match in phase with the servo motor power input terminals (U/V/W).

Servo amplifier

U

U

Servo motor

V

V

M

W

W

2) The power supplied to the servo amplifier should not be connected to the power outputs (U/V/W).

Otherwise, the servo amplifier and servo motor will fail.

Servo amplifier

L1 U

L2 V

L3 W

U

Servo motor

V

W

M

3) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.

Servo amplifier Servo motor

M

4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable.

(c) When you use an option and peripheral equipment

1) When you use a regenerative option for 1 kW or less servo amplifiers

The built-in regenerative resistor and wirings should be removed from the servo amplifier.

The lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.

The regenerative option should be connected to P+ terminal and C terminal.

Twisted wires should be used. (Refer to section 11.2.4.)

2) When you use a regenerative option for 2 kW or more servo amplifiers

The lead wire between P+ terminal and D terminal should not be connected.

The regenerative option should be connected to P+ terminal and C terminal.

Twisted wires should be used. (Refer to section 11.2.4.)

4 - 3

4. STARTUP

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.

Use DO forced output to forcibly turn on/off the pins of the CN3 connector. You can use the function to check the wiring. Switch off SON (Servo-on) to enable the function.

Refer to section 3.2 for details of I/O signal connection.

(b) A voltage exceeding 24 V DC is not applied to the pins of the CN3 connector.

(c) Between Plate and DOCOM of the CN3 connector should not be shorted.

Servo amplifier

CN3

DOCOM

Plate

4.1.3 Surrounding environment

(1) Cable routing

(a) The wiring cables should not be stressed.

(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)

(c) The connector of the servo motor should not be stressed.

(2) Environment

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

4 - 4

4. STARTUP

4.2 Startup in position control mode

Make a startup in accordance with section 4.1. This section provides descriptions specific to the position control mode.

4.2.1 Power on and off procedures

(1) Power-on

Switch power on in the following procedure. Always follow this procedure at power-on.

1) Switch off SON (Servo-on).

2) Make sure that a command pulse train is not input.

3) Turn on the power.

"C01" is shown on the display (when the identification No. is 01).

In the absolute position detection system, first power-on results in [AL. 25 Absolute position erased] and the servo system cannot be switched on. The alarm can be deactivated by then switching power off once and on again.

Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

(2) Power-off

1) Make sure that a command pulse train is not input.


3) Shut off the power.

4.2.2 Stop

Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off.

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.

Operation/command Stopping condition

Switch off SON (Servo-on).

Alarm occurrence

EM2 (Forced stop 2) off

LSP (Forward rotation stroke end) off, LSN

(Reverse rotation stroke end) off

The base circuit is shut off and the servo motor coasts.

The servo motor decelerates to a stop with the command. With some alarms, however, the dynamic brake operates to bring the servo motor to a stop. (Refer to chapter 8.)

The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop warning] occurs. EM2 has the same function as EM1 in the torque control mode.

Refer to section 3.5 for EM1.

It will bring the motor to a sudden stop and make it servo-locked. It can be run in the opposite direction.

4 - 5

4. STARTUP

4.2.3 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.

Refer to section 4.2.1 for how to power on and off the servo amplifier.

Test operation of the servo motor alone in JOG operation of test operation mode


In this step, confirm that the servo amplifier and servo motor operate normally.

With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor correctly rotates at the slowest speed. Refer to section 4.7 for the test operation mode.

In this step, confirm that the servo motor correctly rotates at the slowest speed under the commands from the controller.


Make sure that the servo motor rotates in the following procedure.

1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo amplifier is put in a servo-on status, RD (Ready) switches on.

2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end).

3) When a pulse train is input from the controller, the servo motor starts rotating. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.

In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the controller.




3) When a pulse train is input from the controller, the servo motor starts rotating. Give a low speed command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, command pulse frequency, load ratio, etc.

4) Then, check automatic operation with the program of the controller.

4 - 6

4. STARTUP

4.2.4 Parameter setting

POINT

The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1].

MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

In the position control mode, the servo amplifier can be used by merely changing the basic setting parameters ([Pr. PA _ _ ]) mainly.

As necessary, set other parameters.

4.2.5 Actual operation

Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. Perform a home position return as necessary.

4 - 7

4. STARTUP

4.2.6 Trouble at start-up

CAUTION Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

POINT

Using the optional MR Configurator2, you can refer to reason for rotation failure, etc.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.

(1) Troubleshooting

No. Start-up sequence Fault Investigation Possible cause Reference

1 Power on

2 Switch on SON

(Servo-on).

3 Input command pulse (test operation).

4 Gain adjustment

5 Cyclic operation

7-segment LED is not lit.

7-segment LED blinks.

Alarm occurs.

Alarm occurs.

Servo motor shaft is not servo-locked.

(Servo motor shaft is free.)

Servo motor does not rotate.

Servo motor run in reverse direction.

Rotation ripples (speed fluctuations) are large at low speed.

Large load inertia moment causes the servo motor shaft to oscillate side to side.

Position shift occurs

Not improved even if CN3 and

CN2 connectors are disconnected.

Improved when CN3 connector is disconnected.


1. Power supply voltage fault

2. The servo amplifier is malfunctioning.

Power supply of CN3 cabling is shorted.

1. Power supply of encoder cabling is shorted.

2. Encoder is malfunctioning.

Refer to chapter 8 and remove cause.


1. Check if "dxx (servo-on)" is shown on the display.

2. Check if SON (servo-on) shown on the I/O monitor of MR

Configurator2.

Check the cumulative command pulses shown on the I/O monitor of

MR Configurator2.

1. SON (Servo-on) is not input.

(wiring mistake)

2. 24 V DC power is not supplied to DICOM.

Chapter 8

Chapter 8

Section

4.5.3

1. Wiring mistake

(a) For open collector pulse train input, 24 V DC power is not supplied to OPC.

(b) LSP and LSN are not on.

2. Pulse is not input from the controller.

Mistake in setting of [Pr. PA13]. Chapter

1. Mistake in wiring to controller. 5

2. Mistake in setting of [Pr.

PA14].

Gain adjustment fault Chapter

6

Make gain adjustment in the following procedure.

1. Increase the auto tuning response level.

2. Repeat acceleration and deceleration three times to complete auto tuning.

If the servo motor may be driven with safety, repeat acceleration and deceleration three times to complete auto tuning.

Confirm the cumulative command pulses, cumulative feedback pulses and actual servo motor position.

Gain adjustment fault

Pulse counting error, etc. due to noise.

Chapter

6

(2) in this section

4 - 8

4. STARTUP

(2) How to find the cause of position shift

Controller

(a) Output pulse

counter

Q

P

Servo amplifier

Electronic gear

[Pr. PA05], [Pr. PA06],

[Pr. PA07], [Pr. PA21]

(b) Cumulative command pulses

Cause A

SON (Servo-on) input

LSP/LSN (Stroke end) input

Cause C

C

(c) Cumulative feedback pulses

Machine

Servo motor

M

L

(d) Machine stop position M

Cause B

Encoder

When a position shift occurs, check (a) output pulse counter Q, (b) cumulative command pulse P, (c) cumulative feedback pulse C, and (d) machine stop position M in the above diagram.

Also, Causes A, B, and C indicate the causes of position mismatch. For example, Cause A indicates that noise entered the wiring between the controller and servo amplifier, causing command input pulses to be miscounted.

In a normal status without position shift, there are the following relationships.

1) Q = P (Output counter = Cumulative command pulses)

2) When [Pr. PA21] is "0 _ _ _"

P •

CMX [Pr. PA06]

CDV [Pr. PA07] = C (Cumulative command pulses × Electronic gear = Cumulative feedback pulses)

3) When [Pr. PA21] is "1 _ _ _"

P •

131072

FBP [Pr. PA05] = C

4) C • Δℓ = M (Cumulative feedback pulses × Travel distance per pulse = Machine position)

Check for a position mismatch in the following sequence.

1) When Q ≠ P

Noise entered the pulse train signal wiring between the controller and servo amplifier, causing command input pulses to be miscounted. (Cause A)

Make the following check or take the following measures.

Check how the shielding is done.

Change the open collector type to the differential line driver type.

Run wiring away from the power circuit.

Install a data line filter. (Refer to section 11.10 (2) (a).)

Change the [Pr. PA13 Command pulse input form] setting.

4 - 9

4. STARTUP

2) When P •

CMX

CDV ≠ C

During operation, SON (Servo-on), LSP (Forward rotation stroke end), or LSN (Reverse rotation stroke end) was switched off; or CR (Clear) or RES (Reset) was switched on. (Cause C)

3) When C • Δℓ ≠ M

Mechanical slip occurred between the servo motor and machine. (Cause B)

4.3 Startup in speed control mode

Make a startup in accordance with section 4.1. This section provides the methods specific to the speed control mode.


(1) Power-on



2) Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) are off.



(2) Power-off

1) Switch off ST1 (Forward rotation start) and ST2 (Reverse rotation start).



4.3.2 Stop


If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop.

Refer to section 3.10 for the servo motor with an electromagnetic brake.



Alarm occurrence


LSP (Forward rotation stroke end) off, LSN

(Reverse rotation stroke end) off

Simultaneous on or off of ST1 (Forward rotation start) and ST2 (Reverse rotation start)



The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop warning] occurs. EM2 has the same function as EM1 in the torque control mode.


It will bring the motor to a sudden stop and make it servo-locked. It can be run in the opposite direction.

The servo motor is decelerated to a stop.

4 - 10

4. STARTUP












3) When VC (Analog speed command) is input from the controller and ST1

(Forward rotation start) or ST2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.





3) When VC (Analog speed command) is input from the controller and ST1

(Forward rotation start) or ST2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low speed command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc.


4 - 11

4. STARTUP


POINT


MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

When using this servo in the speed control mode, change [Pr. PA01] setting to select the speed control mode. In the speed control mode, the servo can be used by merely changing the basic setting parameters

([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly.


4 - 12

4. STARTUP


Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings.


CAUTION Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

POINT



No. Start-up sequence Fault Investigation Possible cause Reference

1 Power on

2 Switch on SON

(Servo-on).

3 Switch on ST1

(Forward rotation start) or ST2

(Reverse rotation start).



Alarm occurs.

Alarm occurs.

Servo motor shaft is not servo-locked.

(Servo motor shaft is free.)














(wiring mistake)


1. Check if "dxx (servo-on)" is shown on the display.

2. Check if SON (servo-on) shown on the I/O monitor of

MR Configurator2.

Check the input voltage of VC

(Analog speed command) on the

I/O monitor of MR Configurator2.

Check the on/off status of the input signal on the I/O monitor of

MR Configurator2.

Check the internal speed commands 1 to 7 ([Pr. PC05] to

[Pr. PC11]).

Analog speed command is 0 V.

LSP, LSN, ST1, and ST2 are off.

Set value is 0.

Check the forward rotation torque limit ([Pr. PA11]) and the reverse rotation torque limit ([Pr.

PA12]).

When TLA (Analog torque limit) is usable, check the input voltage on the I/O monitor of MR

Configurator2.

Torque limit level is too low as compared to the load torque.

Torque limit level is too low as compared to the load torque.

Chapter 8

Chapter 8

Section

4.5.3

Section

5.2.3

Section

5.2.1

4 - 13

4. STARTUP

No. Start-up sequence

4 Gain adjustment

Fault

Rotation ripples (speed fluctuations) are large at low speed.

Large load inertia moment causes the servo motor shaft to oscillate side to side.

4.4 Startup in torque control mode

Investigation

Make gain adjustment in the following procedure.

1. Increase the auto tuning response level.

2. Repeat acceleration and deceleration three times to complete auto tuning.

If the servo motor may be driven with safety, repeat acceleration and deceleration three times to complete auto tuning.

Possible cause



Reference

Chapter

6

Chapter

6

Make a startup in accordance with section 4.1. This section provides the methods specific to the torque control mode.


(1) Power-on



2) Make sure that RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off.



(2) Power-off

1) Switch off RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).



4.4.2 Stop


If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.



Alarm occurrence


Simultaneous on or off of RS1 (Forward rotation selection) and RS2 (Reverse rotation selection)



This stops the servo motor with the dynamic brake. [AL. E6 Servo forced stop warning] occurs. EM2 has the same function as EM1 in the torque control mode.


The servo motor coasts.

4 - 14

4. STARTUP











1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on status, RD (Ready) switches on.

2) When TC (Analog speed command) is input from the controller and RS1

(Forward rotation start) or RS2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low torque command at first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.



1) Switch on SON (Servo-on). When the servo amplifier is put in a servo-on status, RD (Ready) switches on.

2) When TC (Analog speed command) is input from the controller and RS1

(Forward rotation start) or RS2 (Reverse rotation start) is switched on, the servo motor starts rotating. Give a low torque command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc.


4 - 15

4. STARTUP


POINT


MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

When using this servo in the torque control mode, change [Pr. PA01] setting to select the torque control mode. In the torque control mode, the servo can be used by merely changing the basic setting parameters

([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly.



Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings.

4 - 16

4. STARTUP


CAUTION Never make a drastic adjustment or change to the parameter values as doing so will make the motion unstable.

POINT



No. Start-up sequence

1 Power on

Fault



Investigation




Possible cause




Reference

Alarm occurs.




Refer to chapter 8 and remove cause. Chapter 8

2 Switch on SON

(Servo-on).

Alarm occurs.

Servo motor shaft is free.

Chapter 8

3 Switch on RS1

(Forward rotation start) or RS2

(Reverse rotation start).




MR Configurator2.


(wiring mistake)


Analog torque command is 0 V. Check the input voltage of TC

(Analog torque command) on the

I/O monitor of MR Configurator2.


MR Configurator2.

Check the internal speed limit 1 to 7 ([Pr. PC05] to [Pr. PC11]).

RS1 and RS2 are off.

Set value is 0.

Torque command level is too low as compared to the load torque.

Check the analog torque command maximum output ([Pr.

PC13]) value.

Check the forward rotation torque limit ([Pr. PA11]) and the reverse rotation torque limit ([Pr.

PA12]).

Set value is 0.

Section

5.2.3

Section

5.2.3

Section

5.2.1

4 - 17

4. STARTUP

4.5 Display and operation sections

POINT

MR-JE_C displays the identification No. on the right two digits of the 3-digit, 7segment LED.

In "communication function selection" of [Pr. PN08], when selecting "Ethernet communication (CC-Link IE field network Basic, SLMP and Modbus/TCP) (0 _ _

_)", the identification number is the IP address fourth octet.

In "communication function selection" of [Pr. PN08], when selecting "RS-485 communication (Modbus RTU) (1 _ _ _)", the identification number is Modbus

RTU station number.

The identification No. can be set with switches on the servo amplifier.

On the servo amplifier display (3-digit, 7 segment LED), check the identification No. and carry out failure diagnosis when alarms occur. The communication status can be checked with the CN1 connector LED.

4.5.1 Summary

WARNING

When switching the identification number setting rotary switch (SW1/SW2), use an insulated screw driver. Do not use a metal screw driver. Touching patterns on electronic boards, lead of electronic parts, etc. may cause an electric shock.

POINT

The identification number setting rotary switch (SW1/SW2) setting becomes enabled after cycling the power.

The following figure shows the identification number setting rotary switch.

3-digit, 7-segment LED

Identification number setting rotary switch (upper) (SW1) Identification number setting rotary switch (lower) (SW2)

Set the identification number of the servo amplifier in hexadecimal. For setting, refer to "MR-JE-_C Servo

Amplifier Instruction Manual (Network)".

4 - 18

4. STARTUP

4.5.2 Scrolling display

Identification number will be displayed in hexadecimal.

(1) Normal display

When there is no alarm, the identification number is displayed.

Status

(1 digit)

Identification No.

(2 digits)

"b"

"C"

"d"

: Indicates ready-off and servo-off status.

: Indicates ready-on and servo-off status.

: Indicates ready-on and servo-on status.

(2) Alarm display

When an alarm occurs, the alarm number (two digits) and the alarm detail (one digit) are displayed following the status display. For example, the following shows when [AL. 32 Overcurrent] is occurring.

After 0.8 s After 0.8 s

Status Alarm No.

After 0.2 s

Blank

Status

(1 digit)

Identification No.

(2 digits)

Alarm No.

(2 digits)

Alarm detail

(1 digit)

"n": Indicates that an alarm is occurring.

If an alarm occurs during initial communication through a network, the status, the alarm number (two digits) and alarm detail (one digit), and the network initial communication status are displayed, in that order. For example, the following shows when [AL. 16.1 Encoder initial communication - Receive data error 1] is occurring.

After 0.8 s After 0.8 s After 0.2 s After 1.6 s

Status Alarm No.

Blank

After 0.2 s

Network initial communication status

Blank

Status

(1 digit)

Identification No.

(2 digits)

Alarm No.

(2 digits)

Alarm detail

(1 digit)

"n": Indicates that an alarm is occurring.

4 - 19

4. STARTUP

4.5.3 Status display mode

(1) Display sequence

Servo amplifier power on

System check in progress

(Note)

Ready-off and servo-off

When an alarm or a warning occurs, the alarm No. or the warning No. is shown.

(Note)

Ready-on

Ready-on and servo-off

Servo-on

(Note)

Ready-on and servo-on

Ordinary operation

When an alarm No. or warning No. is displayed

Example: When [AL. 50 Overload 1] occurs at identification No. 1

Blinking

After 0.8 s

Blinking

After 0.8 s

Blank

Example: When [AL. E1 Overload warning

1] occurs at identification No. 1

Blinking

After 0.8 s

Blinking

After 0.8 s

Blank

During a warning that does not cause servo-off, the decimal point on the third digit LED shows the servo-on status.

Alarm reset or warning cleared

Note.

Identification

No. 1

Identification

No. 2

The segment of the last 2 digits shows the identification number

4 - 20

4. STARTUP

(2) Indication list

Display Status Description

Initializing System check in progress

Ready-off The ready-off command was received.

Ready-on, servo-off

Ready-on, servo-on

The servo-off command was received.

The servo-on command was received.

(Note 2) * * *

8 8 8

(Note 1) b # #.

C # #.

Alarm occurring

Alarm and warning

CPU error

(Note 3)

Test operation mode

An alarm or warning has occurred in the servo amplifier.

The alarm No. and the warning No. that occurred are displayed. (Refer to chapter

8. (Note 4))

A CPU watchdog error has occurred.

During test operation

JOG operation, positioning operation, program operation, output signal (DO) forced output, single-step feed (Note 5), or motor-less operation was set. d # #. Adjustment Machine analyzer function

Note 1. ## is displayed in hexadecimal. The following table shows the description.

## [Pr. PN08]

00 to

FF

0 _ _ _

1 _ _ _

Description

Identification number (4th octet of the IP address) is displayed. The 4th octet of the IP address can be set with the rotary switch (SW1/SW2) or [Pr. PN14].

Identification number (station number) is displayed.

The station number can be set with the rotary switch

(SW1/SW2) or [Pr. PC70].

2. "***" indicates the alarm No. and the warning No.

3. Requires the MR Configurator2.

4. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-JE Servo Amplifier Instruction Manual

(Troubleshooting)" for details of alarms and warnings.

5. The single-step feed can only be used for the point table method. For details, refer to "MR-JE-_C Servo Amplifier Instruction

Manual (Positioning Mode)".

4.5.4 Ethernet status display LED

The following shows the Ethernet status display LED.

Table 4.1 LED indication list

Green (L SPEED)

Green (LINK)

LED Name

L SPEED (CN1) 100 Mbps communication status

LINK (CN1) Link status

Lighting status

Extinguished

Description

Lit

Extinguished

Lit

During 100 Mbps communication

Communication speed error or disconnection

Linking up

Blinking During data transfer

Link unestablished

4 - 21

4. STARTUP

4.6 Test operation


Refer to section 4.2.1, section 4.3.1, and section 4.4.1 for how to power on and off the servo amplifier.

POINT

If necessary, verify controller programs by using motor-less operation. Refer to section 4.7.2 for the motor-less operation.




CAUTION

In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor rotates correctly. Refer to section 4.7 for the test operation mode.

In this step, confirm that the servo motor rotates correctly under the commands from the controller.

Give a low speed command first and check the rotation direction, etc. of the servo motor. If the machine does not operate in the intended direction, check the input signal.


Give a low speed command first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal.

Check any problems with the servo motor speed, load ratio, and other status display items with MR Configurator2.

Then, check automatic operation with the program of the controller.

4.7 Test operation mode

The test operation mode is designed for checking servo operation. It is not for checking machine operation. Do not use this mode with the machine. Always use the servo motor alone.

If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.

POINT

The content described in this section indicates that the servo amplifier and a personal computer are directly connected.

By using a personal computer and MR Configurator2, you can execute JOG operation, positioning operation, output signal forced output, single-step feed, and program operation without connecting the controller.

4 - 22

4. STARTUP

4.7.1 Test operation mode in MR Configurator2

POINT

MR Configurator2 is required to perform positioning operation.

Test operation cannot be performed unless SON (Servo-on) is not turned off.

When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr. PD01] to " _ C _ _ ".

(1) Test operation mode

(a) JOG operation

JOG operation can be performed without using the controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the controller is connected or not.

Exercise control on the JOG operation screen of MR Configurator2.

1) Operation pattern

Item Initial value Setting range

Speed [r/min]

Acceleration/deceleration time constant [ms]

200

1000

0 to maximum speed

0 to 50000

2) Operation method

The check box "Rotation only while the CCW or CW button is being pushed" is checked.

Operation



Stop

Forced stop

Screen control

Keep pressing "Forward CCW".

Keep pressing "Reverse CW".

Release "Forward CCW" or "Reverse CW".

Click "Forced Stop".

The check box "Rotation only while the CCW or CW button is being pushed" is unchecked.

Operation



Stop

Forced stop

Screen control

Click "Forward CCW".

Click "Reverse CW".

Click "Stop".


4 - 23

4. STARTUP

(b) Positioning operation

Positioning operation can be performed without using the controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the controller is connected or not.

Exercise control on the positioning operation screen of MR Configurator2.

1) Operation pattern

Item

Travel distance [pulse]

Speed [r/min]

Acceleration/deceleration time constant [ms]

Repeat pattern

Dwell time [s]

Number of repeats [time]

Initial value

4000

200

1000

Fwd. rot. (CCW) to rev. rot. (CW)

2.0

1

Setting range

0 to 99999999

0 to maximum speed

0 to 50000

Fwd. rot. (CCW) to rev. rot. (CW)

Fwd. rot. (CCW) to fwd. rot. (CCW)

Rev. rot. (CW) to fwd. rot. (CCW)

Rev. rot. (CW) to rev. rot. (CW)

0.1 to 50.0

1 to 9999

2) Operation method

Operation



Pause

Stop

Forced stop

Screen control

Click "Forward CCW".

Click "Reverse CW".

Click "Pause".

Click "Stop".


(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using the controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the controller is connected or not.

Exercise control on the program operation screen of MR Configurator2. For details, refer to Help of

MR Configurator2.

Operation

Start

Pause

Stop

Forced stop

Screen control

Click "Operation Start".

Click "Pause".

Click "Stop".


(d) Output signal (DO) forced output

Output signals can be switched on or off forcibly independently of the servo status. This function is used for output signal wiring check, etc. Exercise control on the DO forced output screen of MR

Configurator2.

4 - 24

4. STARTUP

(2) Operation procedure

1) Set "_ _ 1 0" in [Pr. PC60] and cycle the power.

When initialization is completed, the decimal point on the first digit will blink.

After 1.6 s

Blinking

After 0.2 s

When an alarm or warning also occurs during the test operation, the decimal point on the first digit will blink as follows.

After 0.8 s After 0.8 s

Blinking

After 0.2 s

Blinking

2) Start operation with the personal computer.

4.7.2 Motor-less operation in the controller

POINT

Use motor-less operation which is available by making the controller parameter setting.

Connect the servo amplifier with the controller before the motor-less operation.

(1) Motor-less operation

Without connecting a servo motor to the servo amplifier, output signals or status displays can be provided in response to the input device and controller commands as if the servo motor is actually running. This operation may be used to check the controller sequence. Use this operation with the forced stop reset. Use this operation with the servo amplifier connected to the controller.

To stop the motor-less operation, set the motor-less operation selection to "Disable" in the servo parameter setting of the controller. When the power supply is turned on next time, motor-less operation will be disabled.

(a) Load conditions

Load item Condition

Load torque

Load to motor inertia ratio

0

[Pr. PB06 Load to motor inertia ratio]

4 - 25

4. STARTUP

(b) Alarms

The following alarms and warnings do not occur. However, the other alarms and warnings occur as when the servo motor is connected.

[AL. 16 Encoder initial communication error 1]

[AL. 1E Encoder initial communication error 2]

[AL. 1F Encoder initial communication error 3]

[AL. 20 Encoder normal communication error 1]

[AL. 21 Encoder normal communication error 2]

[AL. 25 Absolute position erased]

[AL. 92 Battery cable disconnection warning]

[AL. 9F Battery warning]

(2) Operation procedure

1) Set the servo amplifier to the servo-off status.

2) Set "_ _ 0 1" in [Pr. PC60] and cycle the power.

3) Start the motor-less operation with the controller.

The display shows the following screen.

The decimal point blinks.

4 - 26

5. PARAMETERS

5. PARAMETERS

CAUTION

Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier.

Changing the values of the parameters for manufacturer setting

Setting a value out of the range

Changing the fixed values in the digits of a parameter

When you write parameters with the controller, make sure that the identification

No. of the servo amplifier is set correctly. Otherwise, the parameter settings of another identification No. may be written, possibly causing the servo amplifier to be an unexpected condition.

5.1 Parameter list

POINT

To enable a parameter whose symbol is preceded by *, turn off the power for 1 s or more after setting and turn it on again. However, the time will be longer depending on a setting value of [Pr. PF25 instantaneous power failure tough drive - detection time] when "Instantaneous power failure tough drive selection" is enabled in [Pr. PA20].

The symbols in the control mode column mean as follows.

P: Position control mode

S: Speed control mode

T: Torque control mode

5 - 1

5. PARAMETERS

5.1.1 Basic setting parameters ([Pr. PA_ _ ])

No. Symbol Name

PA01

PA02

*STY Operation mode

*REG Regenerative option

PA03 *ABS Absolute position detection system

PA04 *AOP1 Function selection A-1

PA05

PA06

*FBP Number of command input pulses per revolution

CMX Electronic gear numerator (command pulse multiplication numerator)

PA07

PA08

PA09

PA10

PA11

CDV

ATU

TLP

Electronic gear denominator (command pulse multiplication denominator)

Auto tuning mode

RSP Auto tuning response

INP In-position range

Forward rotation torque limit

PA12 TLN Reverse rotation torque limit

PA13 *PLSS Command pulse input form

PA14

PA15

*POL Rotation direction selection

*ENR Encoder output pulses

PA16 *ENR2 Encoder output pulses 2

PA17

PA18

For manufacturer setting

PA19 *BLK Parameter writing inhibit

PA20 *TDS Tough drive setting


PA22 For manufacturer setting

PA23 DRAT Drive recorder arbitrary alarm trigger setting

PA24 AOP4 Function selection A-4

PA25 OTHOV One-touch tuning - Overshoot permissible level





PA30

PA31

PA32

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Initial value

0000h

0001h

0000h

0000h

0000h

0

0000h

0000h

0000h

0000h

1000.0

0100h

0

4000

1

0000h

0000h

00AAh

1000h

0000h

0000h

2000h

10000

1

1

0001h

16

100

1000.0

0000h

0000h

0000h

Initial value

0000h

0000h

No. Symbol Name

PB01

PB02

PB03

PB04

PB05

PB06

PB07

PB08

PB09

PB10

PB11

FILT Adaptive tuning mode (adaptive filter II)

VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)

PST Position command acceleration/deceleration time constant (position smoothing)

FFC Feed forward gain


GD2 Load to motor inertia ratio

PG1 Model loop gain

PG2 Position loop gain

VG2 Speed loop gain

VIC Speed integral compensation

VDC Speed differential compensation

PB12

PB13

OVA

NH1

Overshoot amount compensation

Machine resonance suppression filter 1

PB14 NHQ1 Notch shape selection 1

PB15 NH2 Machine resonance suppression filter 2

0

0

500

7.00

15.0

37.0

823

33.7

980

0

4500

0000h

4500

[%]

Unit

[pulse]

[%]

[%]

[pulse/rev]

Control mode

P S T

Unit

[ms]

[%]

[Multiplier]

[rad/s]

[rad/s]

[rad/s]

[ms]

[%]

[Hz]

[Hz]

Control mode

P S T

5 - 2

5. PARAMETERS

No. Symbol Name


PB17 NHF Shaft resonance suppression filter

PB18 LPF Low-pass filter setting

PB19 VRF11 Vibration suppression control 1 - Vibration frequency

PB20 VRF12 Vibration suppression control 1 - Resonance frequency

PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping

PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping

PB23 VFBF Low-pass filter selection

PB24 *MVS Slight vibration suppression control

PB25 *BOP1 Function selection B-1

PB26 *CDP Gain switching function

PB27 CDL Gain switching condition

PB28 CDT Gain switching time constant

PB29 GD2B Load to motor inertia ratio after gain switching

PB30 PG2B Position loop gain after gain switching

PB31

PB32

VG2B Speed loop gain after gain switching

VICB Speed integral compensation after gain switching

PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching

PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching

PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching

PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching

PB37

PB38

PB39

PB40

PB41

PB42


PB43

PB44

PB45 CNHF Command notch filter







PB52 VRF21 Vibration suppression control 2 - Vibration frequency

PB53 VRF22 Vibration suppression control 2 - Resonance frequency

PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping

PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping

PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching

PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching

PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching

PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching

PB60 PG1B Model loop gain after gain switching

PB61

PB62


PB63

PB64

0000h

4500

0000h

4500

0000h

100.0

100.0

0.00

0.00

0.0

0.0

1600

0.00

0.00

0.00

0000h

0000h

0000h

0.00

0000h

4500

0.00

0.00

0.0

0.0

0000h

0000h

0000h

1

7.00

0.0

0

0.0

0.0

0.0

0.00

0.00

Initial value

0000h

0000h

3141

100.0

100.0

0.00

0.00

0100h

0000h

0000h

0000h

10

Unit

[rad/s]

[Hz]

[Hz]

[kpulse/s]/

[pulse]/

[r/min]

[ms]

[Multiplier]

[rad/s]

[rad/s]

[ms]

[Hz]

[Hz]

Control mode

P S T

[Hz]

[Hz]

[Hz]

[Hz]

[Hz]

[Hz]

[Hz]

[rad/s]

5 - 3

5. PARAMETERS

5.1.3 Extension setting parameters ([Pr. PC_ _ ])

No. Symbol Name

PC01

PC02

PC03

PC04

PC05

PC06

PC07

STA Acceleration time constant

STB Deceleration time constant

STC S-pattern acceleration/deceleration time constant

TQC Torque command time constant

SC1 Internal speed command 1

Internal speed limit 1




PC08

PC09

PC10








PC11

PC12

PC13

PC14

PC15

PC16

PC17

PC18



VCM Analog speed command - Maximum speed

TLC Analog torque command maximum output


MBR Electromagnetic brake sequence output

ZSP Zero speed

*BPS Alarm history clear

PC19 *ENRS Encoder output pulse selection

PC20 For manufacturer setting

PC21

PC22 *COP1 Function selection C-1








PC30

PC31

STA2 Acceleration time constant 2

STB2 Deceleration time constant 2

PC32 CMX2 Command input pulse multiplication numerator 2



PC35

PC36

PC37

PC38

PC39

PC40

TL2

VCO

Internal torque limit 2


TPO Analog torque command offset

Analog speed command offset

Analog torque limit offset


PC41

PC42

PC43 ERZ Error excessive alarm detection level

5 - 4

Initial value

0

0

0

0

100.00

500.00

1000.00

200.00

300.00

500.00

800.00

0.00

100.0

0000h

0000h

0

50

0000h

0000h

0

0000h

0020h

0000h

0000h

0000h

0000h

0000h

0000h

0120h

0

0

1

1

1

1000.0

0000h

0

0

0

0

0

0

0

[r/min]

[%]

[ms]

[r/min]

[ms]

[ms]

[%]

[mV]

[mV]

Unit

[ms]

[ms]

[ms]

[ms]

[r/min]

[r/min]

[r/min]

[r/min]

[r/min]

[r/min]

[r/min]

Control mode

P S T

[rev]

5. PARAMETERS

No. Symbol Name

PC44

PC45

PC46

PC47


PC48

PC49

PC50

PC51 RSBR Forced stop deceleration time constant

PC52

PC53


PC54 RSUP1 Vertical axis freefall prevention compensation amount

PC55

PC56

PC57


PC68

PC69

PC70

PC71

PC72

PC73

PC74

PC75

PC58

PC59

PC60 *COPD Function selection C-D


PC62

PC63

PC64

PC65

PC66

PC67

PC76

PC77

PC78

PC79

PC80

ERW Error excessive warning level


5.1.4 I/O setting parameters ([Pr. PD_ _ ])

No. Symbol Name

PD01

PD02

PD03

PD04

*DIA1 Input signal automatic on selection 1


PD05 * DI1L Input device selection 1L

PD06 * DI1M Input device selection 1M

PD07 For manufacturer setting

PD08 * DI2L Input device selection 2L

PD09 * DI2M Input device selection 2M

PD10

PD11


*DI3L Input device selection 3L

PD12 *DI3M Input device selection 3M

5 - 5

Initial value

0

0

0

0040h

0000h

0

0000h

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

00C0h

10

0000h

0000h

0000h

0000h

0000h

0

0

0

0

0000h

100

0

0

0

0

100

0000h

Unit

[rev]

Control mode

P S T

[ms]

[0.0001 rev]

Initial value

0000h

0000h

0000h

0000h

0202h

0202h

002Bh

0A0Ah

0700h

000Ah

0B0Bh

0800h

Unit

Control mode

P S T

5. PARAMETERS

No. Symbol

PD13

PD14




PD16

PD17





PD20

PD21

PD22

PD23 *DI7L Input device selection 7L


PD25

PD26





PD29

PD30

PD31

PD32

*DO1

*DO2

*DO3

*DO4

Output device selection 1




PD40

PD41

PD42

PD43

PD44

PD45

PD46

PD47

PD48

PD33

PD34


*DIF Input filter setting

PD35 *DOP1 Function selection D-1






Name

Initial value

0000h

0000h

0000h

002Ch

0000h

0000h

0000h

0002h

0003h

0000h

0004h

000Bh

0703h

3807h

0000h

0806h

2008h

0000h

0000h

0000h

0000h

0004h

0101h

0000h

0000h

3000h

0000h

0000h

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

Unit

Control mode

P S T

5 - 6

5. PARAMETERS

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

No. Symbol Name

PE18

PE19

PE20

PE21

PE22

PE23

PE24

PE25

PE26

PE27

PE28

PE01

PE02

PE03

PE04

PE05

PE06

PE07

PE08

PE09

PE10

PE11

PE12

PE13

PE14

PE15

PE16

PE17


PE29

PE30

PE31

PE32

PE33

PE34

PE35

PE36

PE37

PE38

PE39

PE40

PE41 EOP3 Function selection E-3

PE42 For manufacturer setting

PE43

PE44 LMCP Lost motion compensation positive-side compensation value selection

PE45 LMCN Lost motion compensation negative-side compensation value selection

PE46 LMFLT Lost motion filter setting

PE47 TOF Torque offset

PE48 *LMOP Lost motion compensation function selection

PE49 LMCD Lost motion compensation timing

PE50 LMCT Lost motion compensation non-sensitive band

Initial value

0000h

0000h

0

0.0

0

0

0

0

0000h

0

0

0000h

0000h

0000h

0000h

0000h

0

0

0.0

0.00

0.00

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0

0

0

0000h

0000h

0000h

0000h

0000h

0111h

20

0000h

0000h

Unit

[0.01%]

[0.01%]

[0.1 ms]

[0.01%]

[0.1 ms]

[pulse]/

[kpulse]

Control mode

P S T

5 - 7

5. PARAMETERS

No. Symbol Name

PE51

PE52

PE53

PE54

PE55

PE56

PE57

PE58

PE59

PE60

PE61

PE62

PE63

PE64


5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

No. Symbol Name

PF12

PF13

PF14

PF15

PF16

PF17

PF18

PF01

PF02

PF03

PF04

PF05

PF06


PF07

PF08

PF09 *FOP5 Function selection F-5

PF10

PF11

DBT Electronic dynamic brake operating time

PF19

PF20

PF21

PF22

DRT Drive recorder switching time setting


PF23 OSCL1 Vibration tough drive - Oscillation detection level

PF24 *OSCL2 Vibration tough drive function selection

PF25

PF26

PF27

CVAT Instantaneous power failure tough drive - detection time


PF28

PF29

PF30

PF31 FRIC Machine diagnosis function - Friction judgment speed

Initial value

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0.00

0.00

0.00

0.00

Unit

Control mode

P S T

Initial value

0000h

0000h

0000h

0

0

0000h

1

1

0003h

0000h

0000h

10000

100

100

2000

0000h

10

0000h

0000h

0000h

0

200

50

0000h

200

0

0

0

0000h

0

0

Unit

[ms]

[s]

[%]

[ms]

[r/min]

Control mode

P S T

5 - 8

5. PARAMETERS

No.

PF32

PF33

PF34

PF35

PF36

PF37

PF38

PF39

PF40

PF41

PF42

PF43

PF44

PF45

PF46

PF47

PF48

Symbol


Name

Initial value

50

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0

0

0

0000h

0

0000h

0000h

Unit

5.1.7 Network setting parameters ([Pr. PN_ _ ])

POINT

For details of the network setting parameters, refer to "MR-JE-_C Servo

Amplifier Instruction Manual (Network)".

Control mode

P S T

No. Symbol Name Unit

[ms]

Control mode

P S T

PN01 For manufacturer setting

PN02 CERT Communication error detection time


PN04

PN05

PN06

PN07

PN08 *NOP2 Function selection N-2


PN10 EIC Ethernet communication time-out selection

PN11 *IPAD1 IP address setting 1




PN15 *SNMK1 Subnet mask setting 1




PN19 *DGW1 Default gateway setting 1




PN23 *KAA KeepAlive time

PN24 *IPAF1 IP address filter 1




[s]

[s]

Initial value

0

192

168

3

0

255

255

255

0

192

168

3

1

0h

1000

0000h

0000h

0000h

0000h

0000h

0000h

1

3600

0

0

0

0

5 - 9

5. PARAMETERS

No. Symbol Name

PN42

PN43

PN44

PN45

PN46

PN47

PN48

PN28 *IPFR2 IP address filter 2 range setting



PN31 *IPOA1 Operation specification IP address 1




PN35 *IPOR3 Operation specification IP address 3 range specification

PN36 *IPOR4 Operation specification IP address 4 range specification

PN37

PN38


PN39

PN40

PN41

5.2 Detailed list of parameters

POINT

Set a value to each "x" in the "Setting digit" columns.

Initial value

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

256

256

256

0

0

0

0

256

256

5.2.1 Basic setting parameters ([Pr. PA_ _ ])

No./symbol/ name

PA01

*STY

Operation mode

Setting digit

Function

_ _ _ x Control mode selection

Select a control mode.

0: Position control mode (P)

1: Position control mode and speed control mode (P/S)

2: Speed control mode (S)

3: Speed control mode and torque control mode (S/T)

4: Torque control mode (T)

5: Torque control mode and position control mode (T/P)

6: Positioning mode (point table method) (CP) (Note)

8: Positioning mode (indexer method) (PS) (Note)

9: Profile mode (pp/pv/tq)

Setting "7" triggers [AL. 37.1].

Note. These setting value can be used on servo amplifiers with software version A4 or later. When this value is set on the servo amplifier with prior to A3 software version, [AL. 37.1] is triggered.

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

Unit

0h

0h

1h

Control mode

P S T

Initial value

[unit]

0h

Control mode

P S T

5 - 10

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PA02

*REG

Regenerative option

PA03

*ABS

Absolute position detection system

PA04

*AOP1

Function selection A-1

PA05

*FBP

Number of command input pulses per revolution

_ _ x x Regenerative option

Select a regenerative option.

Incorrect setting may cause the regenerative option to burn.

If a selected regenerative option is not for use with the servo amplifier, [AL. 37

Parameter error] occurs.

00: Regenerative option is not used.

For servo amplifier of 200 W or less, regenerative resistor is not used.

For servo amplifier of 0.4 kW to 3 kW, built-in regenerative resistor is used.

02: MR-RB032

03: MR-RB12

04: MR-RB32

05: MR-RB30 (Note)

06: MR-RB50 (Cooling fan is required.) (Note)

Note. The setting value is available with servo amplifier with software version A3 or later.

_ x _ _ For manufacturer setting x _ _ _

_ _ _ x Absolute position detection system selection

Select the absolute position detection system.

0: Disabled (used in the incremental system)

2: Enabled (absolute position detection system by communication)

Setting "1" will trigger [AL. 37].


_ x _ _ x _ _ _

_ _ _ x For manufacturer setting

_ _ x _

_ x _ _ x _ _ _ Forced stop deceleration function selection

0: Forced stop deceleration function disabled (EM1)

2: Forced stop deceleration function enabled (EM2)

Refer to table 5.1 for details.

Table 5.1 Deceleration method

Setting value

0 _ _ _

2 _ _ _

EM2/EM1

EM1

EM2

Deceleration method

EM2 or EM1 is off Alarm occurred





The servo motor rotates based on set command input pulses.

To enable the parameter value, select "Number of command input pulses per revolution (1 _ _ _)" of "Electronic gear selection" in [Pr. PA21].

Setting range: 1000 to 1000000

Initial value

[unit]

00h

Control mode

P S T

0h

0h

0h

0h

0h

0h

0h

0h

0h

2h

10000

5 - 11

5. PARAMETERS

No./symbol/ name

PA06

CMX


(command pulse multiplication numerator)

Setting digit

Function

Set the numerator of the electronic gear.

To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear selection" in [Pr. PA21].

The following shows a standard of the setting range of the electronic gear.

1

10

<

CMX

CDV

< 4000

If the set value is outside this range, noise may be generated during acceleration/deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.

Number of command input pulses per revolution

([Pr. PA05] "1000" to "1000000")

Electronic gear selection

(x _ _ _ ) ([Pr. PA21])

"0" (initial value)

"1" Pt

FBP

Electronic gear

([Pr. PA06] [Pr. PA07])

CMX

CDV

-

+

Pt (servo motor resolution): 131072 pulses/rev

Servo motor

M

Encoder

Initial value

[unit]

1

Control mode

P S T

PA07

CDV

Electronic gear denominator

(command pulse multiplication denominator)

Always set the electronic gear with servo-off state to prevent unexpected operation due to improper setting.


Set the denominator of the electronic gear.



1

5 - 12

5. PARAMETERS

No./symbol/ name

PA08

ATU

Auto tuning mode

Setting digit

Function

_ _ _ x Gain adjustment mode selection

Select the gain adjustment mode.

0: 2 gain adjustment mode 1 (interpolation mode)

1: Auto tuning mode 1

2: Auto tuning mode 2

3: Manual mode

4: 2 gain adjustment mode 2

Refer to table 5.2 for details.


_ x _ _ x _ _ _

Table 5.2 Gain adjustment mode selection

Setting value

Gain adjustment mode

Automatically adjusted parameter

_ _ _ 0 2 gain adjustment mode 1 (interpolation mode)


[Pr. PB08 Position loop gain]

[Pr. PB09 Speed loop gain]

[Pr. PB10 Speed integral compensation]

_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio]

[Pr. PB07 Model loop gain]




_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]




_ _ _ 3 Manual mode

_ _ _ 4 2 gain adjustment mode 2




Initial value

[unit]

1h

Control mode

P S T

0h

0h

0h

5 - 13

5. PARAMETERS

PA10

INP

In-position range

PA11

TLP

Forward rotation torque limit

No./symbol/ name

PA09

RSP

Auto tuning response

PA12

TLN

Reverse rotation torque limit

Setting digit

Function

Initial value

[unit]

16

Control mode

P S T

Set a response of the auto tuning.

Setting value

Machine characteristic

Response

Guideline for machine resonance frequency [Hz]

Setting value


Response


14

15

16

17

18

19

20

10

11

12

13

4

5

6

7

8

9

1

2

3

Low response

Middle response

2.7

3.6

4.9

6.6

10.0

11.3

12.7

14.3

16.1

18.1

20.4

23.0

25.9

29.2

32.9

37.0

41.7

47.0

52.9

59.6

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

Middle response

High response

67.1

75.6

85.2

95.9

108.0

121.7

137.1

154.4

173.9

195.9

220.6

248.5

279.9

315.3

355.1

400.0

446.6

501.2

571.5

642.7


Set an in-position range per command pulse.

To change it to the servo motor encoder pulse unit, set [Pr. PC24].


You can limit the torque generated by the servo motor. Set the parameter referring to section 3.6.1 (5).

Set the rated torque to 100.0 [%]. Set the parameter to limit the torque of the servo motor in the CW power running or CCW regeneration.

The polarity of the torque limit changes depending on the [Pr. PA14] setting. Set this parameter to "0.0" to generate no torque.

If a value larger than the servo motor's maximum torque is set, that value will be limited to the servo motor's maximum torque value.

Setting range: 0.0 to 1000.0

You can limit the torque generated by the servo motor. Set the parameter referring to section 3.6.1 (5).

Set the rated torque to 100.0 [%]. Set this parameter when limiting the torque of the servo motor in the CW power running or CCW regeneration.

The polarity of the torque limit changes depending on the [Pr. PA14] setting. Set this parameter to "0.0" to generate no torque.

If a value larger than the servo motor's maximum torque is set, that value will be limited to the servo motor's maximum torque value.


100

[pulse]

1000.0

[%]

1000.0

[%]

5 - 14

5. PARAMETERS

No./symbol/ name

PA13

*PLSS

Command pulse input form

Setting digit

Function

_ _ _ x Command input pulse train form selection

0: Forward/reverse rotation pulse train

1: Signed pulse train

2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after multiplying by four.)

Refer to table 5.3 for settings.

_ _ x _ Pulse train logic selection

0: Positive logic

1: Negative logic

Select the same one as a logic of command pulse train from controller to connect.

Refer to POINT of section 3.6.1 for logic of MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series/MELSEC-F series.


_ x _ _ Command input pulse train filter selection

Selecting proper filter enables to enhance noise tolerance.

0: Command input pulse train is 4 Mpulses/s or less.

1: Command input pulse train is 1 Mpulse/s or less.

2: Command input pulse train is 500 kpulses/s or less.

3: Command input pulse train is 200 kpulses/s or less.

1 Mpulse/s or lower commands are supported by "1". When inputting commands over 1 Mpulse/s and 4 Mpulses/s or lower, set "0".

Setting a value not according to the command pulse frequency may cause the following malfunctions.

Setting a value higher than actual command will lower noise tolerance.

Setting a value lower than actual command will cause a position mismatch. x _ _ _ For manufacturer setting

Table 5.3 Command input pulse train form selection

Setting value

Pulse train form

Forward rotation command

Reverse rotation command

PP

_ _ 1 0



NP

PP

_ _ 1 1 Signed pulse train

NP

L H

Initial value

[unit]

0h

Control mode

P S T

0h

1h

0h

_ _ 1 2

A-phase pulse train

B-phase pulse train

PP

NP

_ _ 0 0



PP

NP

PP

_ _ 0 1 Signed pulse train

NP

H L

_ _ 0 2

A-phase pulse train

B-phase pulse train

PP

NP

Arrows in the table indicate the timing of importing pulse trains. A-phase pulse train and B-phase pulse train are imported after they have been multiplied by 4.

5 - 15

5. PARAMETERS

No./symbol/ name

PA14

*POL

Rotation direction selection

Setting digit

Function

Select servo motor rotation direction relative to the input pulse train.

Servo motor rotation direction

Setting value

When forward rotation pulse is input

When reverse rotation pulse is input

0

1

CCW

CW

CW

CCW

The following shows the servo motor rotation directions.

Forward rotation (CCW)

Initial value

[unit]

0

Control mode

P S T

PA15

*ENR


PA16

*ENR2


2

Reverse rotation (CW)

Setting range: 0, 1

Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4)

Set a numerator of the electronic gear when "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" is selected in [Pr. PC19 Encoder output pulse selection].

The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this range.

Select "Output pulse setting" or "Dividing ratio setting" in [Pr. PC19].


Set a denominator of the electronic gear for the A/B-phase pulse output.

To set a denominator of the electronic gear, select "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.

PC19].

When "Encoder output pulse setting selection" is set to "Disabled (_ _ 1 _)" in [Pr.

PC19], the setting value of this parameter will be disabled.


4000

[pulse/ rev]

1

5 - 16

5. PARAMETERS

No./symbol/ name

PA19

*BLK

Parameter writing inhibit

PA20

*TDS

Tough drive setting

Setting digit

Function

Initial value

[unit]

00AAh

Control mode

P S T

Select a reference range and writing range of the parameter.


Table 5.4 [Pr. PA19] setting value and reading/writing range

PA19

Setting operation

PA PB PC PD PE PF

PT

(Note 1)

PN

(Note 2)

Other than below

Reading

Writing

000Ah

000Bh

000Ch

Reading Only 19

Writing Only 19

Reading

Writing

Reading

Writing

00AAh

(initial value)

Reading

Writing

100Bh

100Ch

Reading

Writing Only 19

Reading

Writing Only 19

10AAh

Note 1.

Reading

Writing Only 19

For details, refer to "MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode)."

2. For details, refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)".

Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation.

You can assign MTTR (During tough drive) to pins CN3-14 to CN3-16 and CN3-22 with [Pr. PD29] to [Pr. PD32].

_ _ _ x For manufacturer setting 0h

0h _ _ x _ Vibration tough drive selection

0: Disabled

1: Enabled

Selecting "1" enables to suppress vibrations by automatically changing setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] in case that the vibration exceed the value of the oscillation level set in [Pr. PF23].

To output the oscillation detection alarm as a warning, set [Pr. PF24 Vibration tough drive function selection].

Refer to section 7.3 for details.

_ x _ _ Instantaneous power failure tough drive selection

0: Disabled

1: Enabled

Selecting "1" enables to avoid occurring [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in the servo amplifier in case that an instantaneous power failure occurs during operation. In [Pr. PF25 Instantaneous power failure tough drive - Detection time], set the time until the occurrence of [AL. 10.1 Voltage drop in the power].

When the digit is enabled, the power should be off for the setting value of [Pr. PF25]

+ 1 s or more before cycling the power to enable a parameter whose symbol is preceded by "*".

0h x _ _ _ For manufacturer setting 0h

5 - 17

5. PARAMETERS

No./symbol/ name

PA21

*AOP3


PA23

DRAT

Drive recorder arbitrary alarm trigger setting

PA24

AOP4


PA25

OTHOV

One-touch tuning -

Overshoot permissible level

PA26

*AOP5


Setting digit

Function

Initial value

[unit]

Control mode

P S T

_ _ _ x One-touch tuning function selection

0: Disabled

1: Enabled

When the digit is "0", the one-touch tuning is not available.


_ x _ _ x _ _ _ Electronic gear selection

0: Electronic gear ([Pr. PA06] and [Pr. PA07])

1: Number of command input pulses per revolution ([Pr. PA05])

_ _ x x Alarm detail No. setting

Set the digits when you execute the trigger with arbitrary alarm detail No. for the drive recorder function.

When these digits are "0 0", only the arbitrary alarm No. setting will be enabled.

1h

0h

0h

0h

00h x x _ _ Alarm No. setting

Set the digits when you execute the trigger with arbitrary alarm No. for the drive recorder function.

When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled.

00h

Setting example:

To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0".

To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5 0 0 3".

0h _ _ _ x Vibration suppression mode selection

0: Standard mode

1: 3 inertia mode

2: Low response mode

When you select the standard mode or low response mode, "Vibration suppression control 2" is not available.

When you select the 3 inertia mode, the feed forward gain is not available.

Before changing the control mode during the 3 inertia mode or low response mode, stop the motor.


_ x _ _ x _ _ _

0h

0h

0h

0

[%]

Set a permissible value of overshoot amount for one-touch tuning as a percentage of the in-position range.

However, setting "0" will be 50%.


0h _ _ _ x Torque limit function selection at instantaneous power failure

0: Disabled

1: Enabled

Selecting "1" for this digit will limit torques to save electric energy when an instantaneous power failure occurs during operation and will make [AL. 10

Undervoltage] less likely to occur.

The torque limit function at instantaneous power failure is enabled when

"Instantaneous power failure tough drive selection" in [Pr. PA20] is "Enabled (_ 1 _

_)".


_ x _ _ x _ _ _

0h

0h

0h

5 - 18

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PA28

*AOP6


_ _ _ x Selection of the HG-KN series servo motor maximum speed

Select the maximum speed of the HG-KN series servo motor.

0: A maximum speed of 5000 r/min

1: A maximum speed of 6000 r/min

This digit is disabled when a servo motor other than HG-KN series is connected.


_ x _ _ x _ _ _

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Initial value

[unit]

0h

Control mode

P S T

0h

0h

0h

No./symbol/ name

PB01

FILT

Adaptive tuning mode

(adaptive filter II)

PB02

VRFT

Vibration suppression control tuning mode

(advanced vibration suppression control II)

Setting digit

Function

_ _ _ x Filter tuning mode selection

Set the adaptive tuning.

Select the adjustment mode of the machine resonance suppression filter 1. Refer to section 7.1.2 for details.

0: Disabled

1: Automatic setting (Do not use this in the torque control mode.)

2: Manual setting


_ x _ _ x _ _ _ Tuning accuracy selection

0: Standard

1: High accuracy

The frequency is estimated more accurately in the high accuracy mode compared to the standard mode. However, the tuning sound may be larger in the high accuracy mode.

_ _ _ x Vibration suppression control 1 tuning mode selection

Select the tuning mode of the vibration suppression control 1. Refer to section 7.1.5 for details.

0: Disabled

1: Automatic setting

2: Manual setting

_ _ x _ Vibration suppression control 2 tuning mode selection

Select the tuning mode of the vibration suppression control 2. To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr.

PA24]. Refer to section 7.1.5 for details.

0: Disabled


2: Manual setting


Initial value

[unit]

0h

Control mode

P S T

0h

0h

0h

0h

0h

0h

0h

5 - 19

5. PARAMETERS

No./symbol/ name

PB03

PST

Position command acceleration/ deceleration time constant

(position smoothing)

Setting digit

Function

Set the constant of a primary delay to the position command.

You can select a control method from "Primary delay" or "Linear acceleration/ deceleration" in [Pr. PB25 Position acceleration/deceleration filter type selection].

The setting range of "Linear acceleration/deceleration" is 0 ms to 10 ms. Setting of longer than 10 ms will be recognized as 10 ms.

When the linear acceleration/deceleration is selected, do not set the "Control mode selection" ([Pr. PA01]) to the setting other than "_ _ _ 0". Doing so will cause the servo motor to make a sudden stop at the time of position control mode switching.

(Example) When a command is given from a synchronizing encoder, synchronous operation will start smoothly even if it start during line operation.

Initial value

[unit]

0

[ms]

Control mode

P S T

Synchronizing encoder

Start

Servo amplifier

Servo motor

PB04

FFC

Feed forward gain

PB06

GD2


Without time constant setting

Servo motor speed

Start

ON

OFF

With time constant setting t


Set the feed forward gain.

When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot.

As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the acceleration time constant up to the rated speed.


Set the load to motor inertia ratio.

Setting a value considerably different from the actual load moment of inertia may cause an unexpected operation such as an overshoot.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details. When the parameter is automatic setting, the value will vary between 0.00 and 100.00.


This parameter

Automatic setting

Pr. PA08

_ _ _ 0: (2 gain adjustment mode 1

(interpolation mode))

_ _ _ 1: (Auto tuning mode 1)


_ _ _ 3: (Manual mode)

_ _ _ 4: (2 gain adjustment mode 2)

Manual setting

0

[%]

7.00

[Multiplier]

5 - 20

5. PARAMETERS

No./symbol/ name

PB07

PG1

Model loop gain

PB08

PG2

Position loop gain

PB09

VG2

Speed loop gain

PB10

VIC

Speed integral compensation

PB11

VDC

Speed differential compensation

Setting digit

Function

Set the response gain up to the target position.

Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and noise.

For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited. Refer to section 7.1.5 (4) for details.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details.


Pr. PA08 This parameter

Manual setting _ _ _ 0: (2 gain adjustment mode 1






Automatic setting

Manual setting

Set the gain of the position loop.

Set this parameter to increase the position response to level load disturbance.

Increasing the setting value will also increase the response level to the load disturbance but will be liable to generate vibration and noise.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details.


Pr. PA08 This parameter

_ _ _ 0: (2 gain adjustment mode 1






Automatic setting

Manual setting

Automatic setting

Set the gain of the speed loop.

Set this parameter when vibration occurs on machines of low rigidity or large backlash. Increasing the setting value will also increase the response level but will be liable to generate vibration and noise.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.


Set the integral time constant of the speed loop.

Decreasing the setting value will increase the response level but will be liable to generate vibration and noise.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.


Set the differential compensation.

To enable the setting value, turn on PC (proportional control).


Initial value

[unit]

15.0

[rad/s]

Control mode

P S T

37.0

[rad/s]

823

[rad/s]

33.7

[ms]

980

5 - 21

5. PARAMETERS

No./symbol/

NH1 name

PB12

OVA


PB13


PB14

NHQ1

Notch shape selection 1

PB15

NH2


PB16

NHQ2


Setting digit

Function

Initial value

[unit]

Control mode

P S T

Set the ratio of dynamic friction torque to the rated torque in percent at the rated speed of the servo motor.

When the response level is low, or when the torque is limited, the efficiency of the parameter can be lower.


Set the notch frequency of the machine resonance suppression filter 1.

When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.

PB01], this parameter will be adjusted automatically by adaptive tuning.

When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be enabled.


0

[%]

4500

[Hz]

Set the shape of the machine resonance suppression filter 1.

When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be adjusted automatically by adaptive tuning.

To enable the setting value, select the manual setting.


_ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

_ x _ _ Notch width selection

0: α = 2

1: α = 3

2: α = 4

3: α = 5 x _ _ _ For manufacturer setting


To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in [Pr. PB16].


0h

0h

0h

0h

4500

[Hz]

0h


_ _ _ x Machine resonance suppression filter 2 selection

0: Disabled

1: Enabled


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4


0h

0h

0h

5 - 22

5. PARAMETERS

PB18

LPF

Low-pass filter setting

No./symbol/ name

PB17

NHF


Setting digit

Function

Initial value

[unit]

Control mode

P S T

Set the shaft resonance suppression filter.

Use this filter to suppress a low-frequency machine vibration.

When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection" in [Pr. PB23], the value will be calculated automatically from the servo motor you use and load to motor inertia ratio. When "Manual setting (_

_ _ 1)" is selected, the setting written to the parameter is used.

When "Shaft resonance suppression filter selection" is "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this parameter will be disabled.

When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49], the shaft resonance suppression filter is not available.

00h _ _ x x Shaft resonance suppression filter setting frequency selection


Set the value closest to the frequency you need.

_ x _ _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB x _ _ _ For manufacturer setting

0h

0h

Table 5.5 Shaft resonance suppression filter setting frequency selection

Setting value

Frequency [Hz]

Setting value

Frequency [Hz]

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

Disabled

Disabled

4500

3000

2250

1800

1500

1285

1125

1000

900

818

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

409

391

375

360

346

333

562

529

500

473

450

428

_ _ 0 C

_ _ 0 D

_ _ 0 E

_ _ 0 F

750

692

642

600

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

321

310

300

290

Set the low-pass filter.

The following shows a relation of a required parameter to this parameter.


[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial value) Automatic setting

_ _ 1 _

_ _ 2 _

Setting value enabled

Setting value disabled

3141

[rad/s]

5 - 23

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PB19

VRF11

Vibration suppression control 1 -

Vibration frequency

PB20

VRF12


Resonance frequency

PB21

VRF13


Vibration frequency damping

PB22

VRF14


Resonance frequency damping

PB23

VFBF

Low-pass filter selection

PB24

*MVS

Slight vibration suppression control

Set the vibration frequency for vibration suppression control 1 to suppress lowfrequency machine vibration.

When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically.

When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr.

PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.


Set the resonance frequency for vibration suppression control 1 to suppress lowfrequency machine vibration.


When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. The setting range of this parameter varies, depending on the value in [Pr.

PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.


Set a damping of the vibration frequency for vibration suppression control 1 to suppress low-frequency machine vibration.


When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.


Set a damping of the resonance frequency for vibration suppression control 1 to suppress low-frequency machine vibration.


When "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.


_ _ _ x Shaft resonance suppression filter selection

Select the shaft resonance suppression filter.


1: Manual setting

2: Disabled

When "Machine resonance suppression filter 4 selection" is set to "Enabled (_ _ _

1)" in [Pr. PB49], the shaft resonance suppression filter is not available.

_ _ x _ Low-pass filter selection

Select the low-pass filter.


1: Manual setting

2: Disabled


_ _ _ x Slight vibration suppression control selection

Select the slight vibration suppression control.

0: Disabled

1: Enabled

To enable the slight vibration suppression control, select "Manual mode (_ _ _ 3)" of

"Gain adjustment mode selection" in [Pr. PA08]. Slight vibration suppression control cannot be used in the speed control mode.


_ x _ _ x _ _ _

Initial value

[unit]

100.0

[Hz]

Control mode

P S T

100.0

[Hz]

0.00

0.00

0h

0h

1h

0h

0h

0h

0h

0h

5 - 24

5. PARAMETERS

No./symbol/ name

PB25

*BOP1

Function selection B-1

PB26

*CDP

Gain switching function

PB27

CDL

Gain switching condition

PB28

CDT

Gain switching time constant

PB29

GD2B

Load to motor inertia ratio after gain switching

PB30

PG2B

Position loop gain after gain switching

PB31

VG2B

Speed loop gain after gain switching

Setting digit

Function

Initial value

[unit]

Control mode

P S T

_ _ _ x Model adaptive control selection

0: Enabled (model adaptive control)

2: Disabled (PID control)

Refer to section 7.4 for disabling this function.

_ _ x _ Position acceleration/deceleration filter type selection

Select the position acceleration/deceleration filter type.

0: Primary delay

1: Linear acceleration/deceleration

When you select "Linear acceleration/deceleration", do not switch the control mode.

Doing so will cause the servo motor to make a sudden stop at the time of control mode switching.

0h

0h


Select the gain switching condition.

Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].

_ _ _ x Gain switching selection

0: Disabled

1: Switching is enabled by control command from controller (C_CDP) and Input device CDP (Gain switching).

2: Command frequency

3: Droop pulses

4: Servo motor speed

_ _ x _ Gain switching condition selection

0: Gain after switching is enabled with gain switching condition or more

1: Gain after switching is enabled with gain switching condition or less

_ x _ _ Gain switching time constant disabling condition selection

0: Switching time constant enabled

1: Switching time constant disabled

2: Return time constant disabled

Refer to section 7.2.4 for details. x _ _ _ For manufacturing setting

0h

0h

0h

0h

Set the value of gain switching (command frequency, droop pulses, and servo motor speed) selected in [Pr. PB26].

The set value unit differs depending on the switching condition item. (Refer to section 7.2.3.)


Set the time constant until the gains switch in response to the conditions set in [Pr.

PB26] and [Pr. PB27].


0h

0h

10

[kpulse/s]

/[pulse]

/[r/min]

1

[ms]

7.00

[Multiplier]

Set the load to motor inertia ratio for when gain switching is enabled.

This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08].


Set the position loop gain when the gain switching is enabled.

When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].



Set the speed loop gain when the gain switching is enabled.

When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09].



0.0

[rad/s]

0

[rad/s]

5 - 25

5. PARAMETERS

No./symbol/ name

PB32

VICB

Speed integral compensation after gain switching

PB33

VRF11B


Vibration frequency after gain switching

PB34

VRF12B


Resonance frequency after gain switching

PB35

VRF13B


Vibration frequency damping after gain switching

PB36

VRF14B


Resonance frequency damping after gain switching

Setting digit

Function

Set the speed integral compensation when the gain changing is enabled.

When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10].



Set the vibration frequency for vibration suppression control 1 when the gain switching is enabled.

When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19].

This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".

"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".

"Gain switching selection" is set to "Switching is enabled by control command from controller (C_CDP) and Input device CDP (Gain switching). (_ _ _ 1)" in [Pr.

PB26].

Switching during driving may cause a shock. Be sure to switch them after the servo motor stops.


Set the resonance frequency for vibration suppression control 1 when the gain switching is enabled.






PB26].



Set a damping of the vibration frequency for vibration suppression control 1 when the gain switching is enabled.





PB26].



Set a damping of the resonance frequency for vibration suppression control 1 when the gain switching is enabled.





PB26].



Initial value

[unit]

0.0

[ms]

Control mode

P S T

0.0

[Hz]

0.0

[Hz]

0.00

0.00

5 - 26

5. PARAMETERS

No./symbol/ name

PB45

CNHF

Command notch filter

Setting digit

Function

Set the command notch filter.

_ _ x x Command notch filter setting frequency selection

Refer to table 5.6 for the relation of setting values to frequency.

_ x _ _ Notch depth selection

Refer to table 5.7 for details. x _ _ _ For manufacturer setting

Table 5.6 Command notch filter setting frequency selection

Frequency

[Hz]

118

112

107

102

97

93

173

160

150

140

132

125

90

86

83

80

77

75

72

Disabled

2250

1125

750

562

450

375

321

281

250

225

204

187

Setting value

_ 0 _ _

_ 1 _ _

_ 2 _ _

_ 3 _ _

_ 4 _ _

_ 5 _ _

_ 6 _ _

Setting value

_ _ 0 D

_ _ 0 E

_ _ 0 F

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

_ _ 0 C

Setting value

_ _ 2 D

_ _ 2 E

_ _ 2 F

_ _ 3 0

_ _ 3 1

_ _ 3 2

_ _ 3 3

_ _ 3 4

_ _ 3 5

_ _ 3 6

_ _ 3 7

_ _ 3 8

_ _ 3 9

_ _ 3 A

_ _ 3 B

_ _ 3 C

_ _ 3 D

_ _ 3 E

_ _ 3 F

_ _ 2 0

_ _ 2 1

_ _ 2 2

_ _ 2 3

_ _ 2 4

_ _ 2 5

_ _ 2 6

_ _ 2 7

_ _ 2 8

_ _ 2 9

_ _ 2 A

_ _ 2 B

_ _ 2 C

Depth [dB]

-40.0

-24.1

-18.1

-14.5

-12.0

-10.1

-8.5

Setting value

_ 8 _ _

_ 9 _ _

_ A _ _

_ B _ _

_ C _ _

_ D _ _

_ E _ _

Depth [dB]

-6.0

-5.0

-4.1

-3.3

-2.5

-1.8

-1.2

Setting value

_ _ 4 D

_ _ 4 E

_ _ 4 F

_ _ 5 0

_ _ 5 1

_ _ 5 2

_ _ 5 3

_ _ 5 4

_ _ 5 5

_ _ 5 6

_ _ 5 7

_ _ 5 8

_ _ 5 9

_ _ 5 A

_ _ 5 B

_ _ 5 C

_ _ 5 D

_ _ 5 E

_ _ 5 F

_ _ 4 0

_ _ 4 1

_ _ 4 2

_ _ 4 3

_ _ 4 4

_ _ 4 5

_ _ 4 6

_ _ 4 7

_ _ 4 8

_ _ 4 9

_ _ 4 A

_ _ 4 B

_ _ 4 C

Frequency

[Hz]

29.6

28.1

26.8

25.6

24.5

23.4

38

37

36

35.2

33.1

31.3

22.5

21.6

20.8

20.1

19.4

18.8

18.2

56

53

51

48

70

66

62

59

46

45

43

41

40

Table 5.7 Notch depth selection

Frequency

[Hz]

7.4

7.0

6.7

6.4

6.1

5.9

9.7

9.4

9.1

8.8

8.3

7.8

5.6

5.4

5.2

5.0

4.9

4.7

4.5

17.6

16.5

15.6

14.8

14.1

13.4

12.8

12.2

11.7

11.3

10.8

10.4

10

Initial value

[unit]

00h

Control mode

P S T

0h

0h

5 - 27

5. PARAMETERS

No./symbol/ name

PB46

NH3


PB47

NHQ3


PB48

NH4


PB49

NHQ4


PB50

NH5


Setting digit

Function






0: Disabled

1: Enabled


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4







0: Disabled

1: Enabled

When you select "Enabled" of this digit, [Pr. PB17 Shaft resonance suppression filter] is not available.


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4





Initial value

[unit]

4500

[Hz]

Control mode

P S T

0h

0h

0h

0h

4500

[Hz]

0h

0h

0h

0h

4500

[Hz]

5 - 28

5. PARAMETERS

No./symbol/ name

PB51

NHQ5


PB52

VRF21


Vibration frequency

PB53

VRF22


Resonance frequency

PB54

VRF23


Vibration frequency damping

PB55

VRF24



Setting digit

Function

Initial value

[unit]

Control mode

P S T


When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine resonance suppression filter 5 is not available.


0: Disabled

1: Enabled

0h

0h _ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4

3: α = 5

0h

0h

100.0

[Hz] x _ _ _ For manufacturer setting

Set the vibration frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.

When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When

"Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.

The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.

To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24].


Set the resonance frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.



The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 for details.



Set a damping of the vibration frequency for vibration suppression control 2 to suppress low-frequency machine vibration.



Refer to section 7.1.5 for details.



Set a damping of the resonance frequency for vibration suppression control 2 to suppress low-frequency machine vibration.



Refer to section 7.1.5 for details.



100.0

[Hz]

0.00

0.00

5 - 29

5. PARAMETERS

No./symbol/ name

PB56

VRF21B


Vibration frequency after gain switching

PB57

VRF22B


Resonance frequency after gain switching

PB58

VRF23B


Vibration frequency damping after gain switching

PB59

VRF24B


Resonance frequency damping after gain switching

Setting digit

Function

Set the vibration frequency for vibration suppression control 2 when the gain switching is enabled.




"Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)".

"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _ 2 _)".


PB26].



Set the resonance frequency for vibration suppression control 2 when the gain switching is enabled.







PB26].



Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching is enabled.






PB26].



Set a damping of the resonance frequency for vibration suppression control 2 when the gain switching is enabled.






PB26].



Initial value

[unit]

0.0

[Hz]

Control mode

P S T

0.0

[Hz]

0.00

0.00

5 - 30

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PB60

PG1B

Model loop gain after gain switching

Set the model loop gain when the gain switching is enabled.

When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07].




PB26].



5.2.3 Extension setting parameters ([Pr. PC_ _ ])

Initial value

[unit]

0.0

[rad/s]

Control mode

P S T

No./symbol/ name

PC01

STA

Acceleration time constant

Setting digit

Function

Set the acceleration time required to reach the rated speed from 0 r/min in response to VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr.

PC11 Internal speed command 7].

Speed

Rated speed

If the preset speed command is lower than the rated speed, acceleration/ deceleration time will be shorter.

Initial value

[unit]

0

[ms]

Control mode

P S T

PC02

STB

Deceleration time constant

0 r/min Time

[Pr. PC01] setting [Pr. PC02] setting

For example for the servo motor of 3000 r/min rated speed, set 3000 (3 s) to increase speed from 0 r/min to 1000 r/min in 1 second.


Set the deceleration time required to reach 0 r/min from the rated speed in response to VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr.



0

[ms]

5 - 31

5. PARAMETERS

No./symbol/ name

PC03

STC

S-pattern acceleration/ deceleration time constant

Setting digit

Function

Start/stop the servo motor smoothly.

Set the time of the arc part for S-pattern acceleration/deceleration.

Setting "0" will make it linear acceleration/deceleration.

Speed command

Initial value

[unit]

0

[ms]

Control mode

P S T

PC04

TQC

Torque command time constant

0 r/min

STC

STA

STC STC

STB

STC

Time

STA: Acceleration time constant ([Pr. PC01])

STB: Deceleration time constant ([Pr. PC02])

STC: S-pattern acceleration/deceleration time constant ([Pr. PC03])

Long setting of STA (acceleration time constant) or STB (deceleration time constant) may produce an error in the time of the arc part for the setting of the S-pattern acceleration/deceleration time constant.

The upper limit value of the actual arc part time is limited by

2000000

STA for acceleration or by

2000000

STB for deceleration.

(Example) At the setting of STA 20000, STB 5000 and STC 200, the actual arc part times are as follows.

Acceleration: 100 ms

2000000

20000 = 100 [ms] < 200 [ms]

Therefore, it will be limited to 100 ms.

Deceleration: 200 ms

2000000

5000 = 400 [ms] > 200 [ms]

Therefore, it will be 200 ms as you set.


Set the constant of a primary delay to the torque command.

Torque command

0

[ms]

Torque

After filtering

TQC Time TQC

TQC: Torque command time constant


5 - 32

5. PARAMETERS

No./symbol/ name

PC05

SC1

Internal speed command

1/internal speed limit 1

PC06

SC2

Internal speed command 2


PC07

SC3



PC08

SC4



PC09

SC5



PC10

SC6



PC11

SC7



PC12

VCM

Analog speed command -

Maximum speed

Setting digit

Function

Set speed 1 of internal speed commands.

If [Pr. PC29] is set to "0 _ _ _" and input device SP1, SP2, and SP3 are turned off, internal speed command 1 is used as the speed command value. Refer to section

3.5 for details.

Setting range: 0.00 to instantaneous permissible speed

Set speed 1 of internal speed limits.


























Set the speed at the maximum input voltage (10 V) of VC (Analog speed command).

When "0.00" is set, the analog speed command maximum speed would be the rated speed of the servo motor connected.

If a value equal to or larger than the permissible speed is inputted to VC, the value is clamped at the permissible speed.


Initial value

[unit]

100.00

[r/min]

Control mode

P S T

500.00

[r/min]

1000.00

[r/min]

200.00

[r/min]

300.00

[r/min]

500.00

[r/min]

800.00

[r/min]

0.00

[r/min]

5 - 33

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PC13

TLC

Analog torque command maximum output

PC16

MBR

Electromagne tic brake sequence output

PC17

ZSP

Zero speed

PC18

*BPS

Alarm history clear

PC19

*ENRS

Encoder output pulse selection

Set the output torque at the analog torque command voltage (TC = ±8 V) of +8 V on the assumption that the maximum torque is 100.0%.

For example, set 50.0.

The maximum torque ×

50.0

100.0

is outputted.

If a value equal to or larger than the maximum torque is inputted to TC, the value is clamped at the maximum torque.


Set the delay time between MBR (Electromagnetic brake interlock) and the base drive circuit is shut-off. For the timing chart of when the servo motor with an electromagnetic brake is used, refer to section 3.10.2.


Set the output range of ZSP (Zero speed detection).

ZSP (Zero speed detection) has hysteresis of 20 r/min.


_ _ _ x Alarm history clear selection

Used to clear the alarm history.

0: Disabled

1: Enabled

When "Enabled" is set, the alarm history will be cleared at the next power-on. Once the alarm history is cleared, the setting becomes disabled automatically.


_ x _ _ x _ _ _

_ _ _ x Encoder output pulse phase selection

Select the encoder pulse direction.

0: Increasing A-phase 90° in CCW

1: Increasing A-phase 90° in CW

Setting value

Servo motor rotation direction

CCW CW

0

A-phase

B-phase

A-phase

B-phase

1

A-phase

B-phase

A-phase

B-phase

_ _ x _ Encoder output pulse setting selection

0: Output pulse setting

1: Dividing ratio setting

2: The same output pulse setting as the command pulse

3: A-phase/B-phase pulse electronic gear setting

When you select "1", the settings of [Pr. PA16 Encoder output pulses 2] will be disabled.

When you select "2", the settings of [Pr. PA15 Encoder output pulses] and [Pr. PA16

Encoder output pulses 2] will be disabled. When you select the setting, do not change the settings in [Pr. PA06] and [Pr. PA07] after the power-on.


Initial value

[unit]

100.0

[%]

Control mode

P S T

0

[ms]

50

[r/min]

0h

0h

0h

0h

0h

0h

0h

0h

5 - 34

5. PARAMETERS

No./symbol/ name

PC22

*COP1

Function selection C-1

PC23

*COP2


PC24

*COP3


Setting digit

Function


_ _ x _

_ x _ _ x _ _ _ Encoder cable communication method selection

Select the encoder cable communication method.

0: Two-wire type

1: Four-wire type

If the setting is incorrect, [AL. 16 Encoder initial communication error 1] or [AL. 20

Encoder normal communication error 1] occurs.

_ _ _ x Servo-lock selection at speed control stop

Select the servo-lock selection at speed control stop.

In the speed control mode, the servo motor shaft can be locked to prevent the shaft from being moved by an external force.

0: Enabled (servo-lock)

The operation to maintain the stop position is performed.

1: Disabled (no servo-lock)

The stop position is not maintained.

The control to make the speed 0 r/min is performed.


_ x _ _ VC voltage averaging selection

Select the VC voltage average.

Set the filtering time when VC (Analog speed command) is imported.

Set "0" to vary the speed to voltage fluctuation in real time. Increase the set value to vary the speed slower to voltage fluctuation.

Setting value

Filtering time [ms]

3

4

5

0

1

2

0

0.444

0.888

1.777

3.555

7.111 x _ _ _ Speed limit selection at torque control

Select the speed limit selection at torque control.

0: Enabled

1: Disabled

Do not use this function except when configuring an external speed loop.

_ _ _ x In-position range unit selection

Select a unit of in-position range.

0: Command input pulse unit

1: Servo motor encoder pulse unit


_ x _ _ x _ _ _ Error excessive alarm/error excessive warning level unit selection

Select a setting unit for the error excessive alarm detection level set in [Pr. PC43] and for error excessive warning level setting with [Pr. PC73].

0: 1 rev unit

1: 0.1 rev unit

2: 0.01 rev unit

3: 0.001 rev unit

0h

0h

0h

0h

Initial value

[unit]

0h

2h

0h

0h

Control mode

P S T

0h

0h

0h

0h

5 - 35

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PC26

*COP5


PC27

*COP6


PC29

*COP8


PC30

STA2


2

PC31

STB2


2

_ _ _ x [AL. 99 Stroke limit warning] selection

Enable or disable [AL. 99 Stroke limit warning].

0: Enabled

1: Disabled


_ x _ _ x _ _ _


_ _ x _

_ x _ _ Undervoltage alarm selection

Select the alarm and warning that occurs when the bus voltage drops to the undervoltage alarm level.

0: [AL. 102] regardless of servo motor speed

1: [AL. E9.1] occurs when the servo motor speed is 50 r/min or less, and [AL. 10.2] occurs when the servo motor speed is over 50 r/min. x _ _ _ For manufacturer setting


_ _ x _

_ x _ _ x _ _ _ Analog input signal selection

Select the analog input signal for the CN3-9 pin. After changing the setting, readjust

[Pr. PC37] and [Pr. PC38].

Available analog input signals will differ depending on [Pr. PA01] setting values.

Refer to the following table for details.

0: TC/TLA setting

1: VC setting value

Setting value Supported control modes (Note 2)

[Pr. PC29] P P/S S S/T T T/P

0 _ _ _

(TC/TLA setting)

1 _ _ _

(VC setting)

TLA

-

TLA/

TLA

-/

VC

TLA

VC

TLA/

TC

TC

- (Note 1)

TC/

TLA

Note 1. Setting an unavailable control mode will trigger [AL. 37].

2. P: position control mode, S: speed control mode, T: torque control mode, P/S: position/speed control switching mode, S/T: speed/torque control switching mode, T/P: torque/position control switching mode

To enable the parameter, turn on STAB2 (Speed acceleration/deceleration selection).

Set the acceleration time required to reach the rated speed from 0 r/min in response to VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr.



To enable the parameter, turn on STAB2 (Speed acceleration/deceleration selection).

Set the deceleration time required to reach 0 r/min from the rated speed in response to VC (Analog speed command) and [Pr. PC05 Internal speed command 1] to [Pr.



Initial value

[unit]

0h

Control mode

P S T

0h

0h

0h

0h

0h

0h

0h

0h

2h

1h

0h

0

[ms]

0

[ms]

5 - 36

5. PARAMETERS

PC32

CMX2

Commanded pulse multiplication numerator 2

PC33

CMX3


PC34

CMX4


PC35

TL2

Internal torque limit 2

No./symbol/ name

PC37

VCO

Analog speed command offset

PC38

TPO

Analog torque command offset/Analog torque limit offset

PC43

ERZ

Error excessive alarm detection level

Setting digit

Function

Initial value

[unit]

1

Control mode

P S T







Set the rated torque to 100.0 [%].

Set this parameter to "0.0" to generate no torque.

Set the parameter referring to section 3.6.1 (5).


Set the offset voltage of VC (Analog speed command).

For example, if CCW rotation is provided by switching on ST1 (Forward rotation start) with applying 0 V to VC, set a negative value.

When automatic VC offset is used, the automatically offset value is set to this parameter.

The initial value is provided before shipment by the automatic VC offset function on condition that the voltage between VC and LG is 0 V.

Setting range: -9999 to 9999

Set the offset voltage of TC (Analog torque command).


Set the offset voltage of TLA (Analog torque limit).


Set an error excessive alarm detection level.

You can change the setting unit with "Error excessive alarm/error excessive warning level unit selection" in [Pr. PC24].

However, setting "0" will be 3 rev. Setting over 200 rev will be clamped with 200 rev.


1

1

1000.0

[%]

The value differs depending on the servo amplifiers.

[mV]

0

[mV]

0

[rev]

5 - 37

5. PARAMETERS

No./symbol/ name

PC51

RSBR

Forced stop deceleration time constant

Setting digit

Function

Set deceleration time constant when you use the forced stop deceleration function.

Set the time per ms from the rated speed to 0 r/min.

Setting "0" will be 100 ms.

Rated speed

Servo motor speed

Forced stop deceleration

Initial value

[unit]

100

[ms]

Control mode

P S T

0 r/min

[Pr. PC51]

PC54

RSUP1

Vertical axis freefall prevention compensation amount

PC60

*COPD

Function selection C-D

[Precautions]

If the servo motor torque is saturated at the maximum torque during forced stop deceleration because the set time is too short, the time to stop will be longer than the set time constant.

[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced stop deceleration, depending on the set value.

After an alarm that leads to a forced stop deceleration, if an alarm that does not lead to a forced stop deceleration occurs or if the power supply is cut, dynamic braking will start regardless of the deceleration time constant setting.


Set the compensation amount of the vertical axis freefall prevention function.

Set it per servo motor rotation amount.

The function will pull up an shaft per rotation amount to the servo motor rotation direction at the time of inputting forward rotation pulse for a positive value, and at the time of inputting reverse rotation pulse for a negative value.

For example, if a positive compensation amount is set when the [Pr. PA14 Rotation direction selection] setting is "1", compensation will be performed to the CW direction.

The vertical axis freefall prevention function is performed when all of the following conditions are met.

1) In position control mode, positioning mode or profile position mode (pp).

2) The value of the parameter is other than "0".

3) The forced stop deceleration function is enabled.

4) Alarm has occurred or EM2 has turned off when the servo motor rotates at the zero speed or less. Or, the "Quick stop" command was issued.

5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD29] to [Pr. PD32], and the base circuit shut-off delay time was set in [Pr. PC16].


_ _ _ x Motor-less operation selection

Select the motor-less operation.

0: Disabled

1: Enabled

_ _ x _ Test operation selection

0: Disabled

1: Enabled

_ x _ _ For manufacturer setting x _ _ _ [AL. 9B Error excessive warning] selection

0: [AL. 9B Error excessive warning] is disabled.

1: [AL. 9B Error excessive warning] is enabled.

0

[0.0001 rev]

0h

0h

0h

0h

5 - 38

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PC73

ERW

Error excessive warning level

Set an error excessive warning level.

To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive warning] selection" in [Pr. PC60].

You can change the setting unit with "Error excessive alarm/error excessive warning level unit selection" in [Pr. PC24].

Set the level in rev unit. When "0" is set, 1 rev will be applied. Setting over 200 rev will be clamped with 200 rev.

When an error reaches the set value, [AL. 9B Error excessive warning] will occur.

When the error decreases lower than the set value, the warning will be canceled automatically. The minimum pulse width of the warning signal is 100 [ms].

Set as follows: [Pr. PC73 Error excessive warning level] < [Pr. PC43 Error excessive alarm detection level] When you set as [Pr. PC73 Error excessive warning level] ≥

[Pr. PC43 Error excessive alarm detection level], [AL. 52 Error excessive] will occur earlier than the warning.


5.2.4 I/O setting parameters ([Pr. PD_ _ ])

Initial value

[unit]

0

[rev]

Control mode

P S T

No./symbol/ name

PD01

*DIA1

Input signal automatic on selection 1

Setting digit

Function

Select input devices to turn on automatically.

_ _ _ x

(HEX)

_ _ _ x (BIN): For manufacturer setting

_ _ x _ (BIN): For manufacturer setting

_ _ x _

(HEX)

_ x _ _ (BIN): SON (Servo-on)

Selecting "1" in profile mode will trigger [AL. 37 Parameter error].

0: Disabled (Use for an external input signal.)

1: Enabled (automatic on) x _ _ _ (BIN): For manufacturer setting

_ _ _ x (BIN): PC (Proportional control)


1: Enabled (automatic on)

_ x _ _

(HEX)

_ _ x _ (BIN): TL (External torque limit selection)



_ x _ _ (BIN): For manufacturer setting x _ _ _ (BIN): For manufacturer setting

_ _ _ x (BIN): For manufacturer setting


_ x _ _ (BIN): LSP (Forward rotation stroke end)


1: Enabled (automatic on) x _ _ _

(HEX) x _ _ _ (BIN): LSN (Reverse rotation stroke end)



_ _ _ x (BIN): EM2 (Forced stop)




_ x _ _ (BIN): For manufacturer setting x _ _ _ (BIN): For manufacturer setting

0h

0h

0h

Initial value

[unit]

0h

Control mode

P S T

5 - 39

5. PARAMETERS

No./symbol/ name

PD01

*DIA1

Input signal automatic on selection 1

Setting digit

Function

Convert the setting value into hexadecimal as follows.

Signal name

SON (Servo-on)

Signal name

PC (Proportional control)

TL (External torque limit selection)

Signal name

LSP (Forward rotation stroke end)

LSN (Reverse rotation stroke end)

Signal name

EM2 (Forced stop)

BIN 0: Use for an external input signal.

BIN 1: Automatic on

Initial value

BIN HEX

0

0

0

0

0

Initial value

BIN HEX

0

0

0

0

0

Initial value

BIN HEX

0

0

0

0

0

Initial value

BIN HEX

0

0

0

0

0

Initial value

[unit]

Control mode

P S T

5 - 40

5. PARAMETERS

No./symbol/ name

PD05

*DI1L

Input device selection 1L

PD06

*DI1M

Input device selection 1M

PD08

*DI2L


PD09

*DI2M


PD11

*DI3L


Setting digit

Function

Any input device can be assigned to the CN3-2 pin.

_ _ x x Position control mode - Device selection

Refer to table 5.8 for settings. x x _ _ Speed control mode - Device selection


Table 5.8 Selectable input devices

Setting value

22

23

24

25

26

09

0A

0B

0D

20

21

02

03

04

05

06

07

08

P


S T

SON

RES

PC

TL

CR

SON

RES

PC

TL

ST1

ST2

SON

RES

RS2

RS1

TL1

LSP

LSN

CDP

TL1

LSP

LSN

CDP

SP1

SP2

SP1

SP2

SP3 SP3

LOP (Note 2) LOP (Note 2) LOP (Note 2)

CM1

CM2

STAB2 STAB2

Initial value

[unit]

02h

Control mode

P S T

02h

Note 1. P: position control mode, S: speed control mode, T: torque control mode

The diagonal lines indicate manufacturer settings. Never change the setting.

2. When assigning LOP (Control switching), assign it to the same pin in all control modes.


_ _ x x Torque control mode - Device selection

Refer to table 5.8 in [Pr. PD05] for settings.

02h





2h

0h

0Ah

0Ah x x _ _ Speed control mode - Device selection








Refer to table 5.8 in [Pr. PD05] for settings. x x _ _ Speed control mode - Device selection


00h

7h

0h

0Bh

0Bh

5 - 41

5. PARAMETERS

No./symbol/ name

PD12

*DI3M

Input device

Selection 3M

PD14

*DI4L


PD15

*DI4M


PD17

*DI5L


PD18

*DI5M


PD23

*DI7L


PD24

*DI7M


PD26

*DI8L


PD27

*DI8M


Setting digit

Function





































5 - 42

07h

07h

8h

3h

06h

08h

08h

0h

2h

00h

00h

00h

00h

0h

0h

00h

0h

0h

00h

Initial value

[unit]

00h

Control mode

P S T

8h

0h

03h

5. PARAMETERS

No./symbol/ name

Setting digit

Function

PD29

*DO1


_ _ x x Device selection

Any output device can be assigned to the CN3-14 pin.

If "CN3-14 (1 _ _ _)" is selected in "OP signal assignment selection" of [Pr. PD38], this digit will be disabled, and OP (Encoder Z-phase pulse (open collector)) will be assigned to the CN3-14 pin.



Table 5.9 Selectable output devices

Setting value P

_ _ 0 0 Always off

_ _ 0 2 RD

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 7

ALM

INP

MBR

TLC

_ _ 0 8 WNG

_ _ 0 A Always off

_ _ 0 B Always off

_ _ 0 C

_ _ 0 D

ZSP

MTTR

_ _ 0 F

_ _ 1 1

CDPS

ABSV

Output device (Note)

S

Always off

RD

ALM

SA

MBR

TLC

WNG

SA

Always off

ZSP

MTTR

Always off

Always off

T

Always off

RD

ALM

Always off

MBR

VLC

WNG

Always off

VLC

ZSP

MTTR

Always off

Always off

PD30

*DO2


PD31

*DO3


PD32

*DO4


Note. P: position control mode, S: speed control mode, T: torque control mode








This parameter cannot be used to assign output devices since the OP signal is assigned to the CN3-16 pin with "OP signal assignment selection" of [Pr. PD38] in the initial setting. To assign output devices, select a value other than "CN3-16 (3 _ _

_)" in "OP signal assignment selection" of [Pr. PD38]








Initial value

[unit]

02h

Control mode

P S T

0h

0h

03h

0h

0h

00h

0h

0h

04h

0h

0h

5 - 43

5. PARAMETERS

No./symbol/ name

PD34

*DIF

Input filter setting

PD35

*DOP1

Function selection D-1

PD37

*DOP3


PD38

*DOP4


Setting digit

Function

Select a filter for the input signal.

_ _ _ x Input signal filter selection

If external input signal causes chattering due to noise, etc., input filter is used to suppress it.

0: None

1: 0.888 [ms]

2: 1.777 [ms]

3: 2.666 [ms]

4: 3.555 [ms]

_ _ x _ RES (Reset) dedicated filter selection

0: Disabled

1: Enabled (50 [ms])

_ x _ _ CR (Clear) dedicated filter selection

0: Disabled

1: Enabled (50 [ms]) x _ _ _ For manufacturer setting

_ _ _ x Stop method selection for LSP (Forward rotation stroke end) off and LSN (Reverse rotation stroke end) off

Select a stop method for LSP (Forward rotation stroke end) off and LSN (Reverse rotation stroke end) off.

0: Quick stop

1: Slow stop

_ _ x _ Base circuit status selection for RES (Reset) on

0: Base circuit shut-off

1: No base circuit shut-off


_ _ _ x CR (Clear) selection

Set CR (Clear).

0: Deletes droop pulses by turning on the device

1: Always deletes droop pulses during the device on

2: Disabled


_ x _ _ x _ _ _


_ _ x _

_ x _ _ Rotation direction selection for enabling torque limit

Select a rotation direction which enables the internal torque limit 2 and the external torque limit.

Refer to section 3.6.1 (5) for details.

0: Enabled in both CCW or positive direction and CW or negative direction

1: Enabled in CCW or positive direction

2: Enabled in CW or negative direction x _ _ _ OP signal assignment selection

Select the pin to assign the OP (Encoder Z-phase pulse (open collector)) to.

For example, if OP is assigned to the CN3-14 pin, OP is outputted regardless of the setting in [Pr. PD29].

0: Not assigned

1: CN3-14 ([Pr. PD29] disabled)




Initial value

[unit]

4h

Control mode

P S T

0h

0h

0h

1h

0h

1h

0h

0h

0h

0h

0h

0h

0h

0h

3h

5 - 44

5. PARAMETERS

No./symbol/ name

PD39

*DOP5


Setting digit

Function

_ _ _ x Alarm code output

Select an alarm code output.

When an alarm occurs, the alarm code is outputted to CN3-14, CN3-16, and CN3-22 pins.

0: Disabled

1: Enabled

For details of the alarm codes, refer to chapter 8.

When you select alarm code output while MBR or ALM is assigned to the CN3-14,

CN3-16, or CN3-22 pin, [AL. 37 Parameter error] will occur.

_ _ x _ Selection of output device at warning occurrence

Select ALM (Malfunction) output status for a warning occurrence.

Setting value

Device status

0

WNG

ALM

ON

OFF

ON

OFF

Warning occurrence

1

WNG

ALM

ON

OFF

ON

OFF


Warning occurrence

Initial value

[unit]

0h

Control mode

P S T

0h

0h

0h

5 - 45

5. PARAMETERS

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

No./symbol/ name

Setting digit

Function

PE41

EOP3

Function selection E-3

PE44

LMCP

Lost motion compensation positive-side compensation value selection

PE45

LMCN

Lost motion compensation negative-side compensation value selection

PE46

LMFLT

Lost motion filter setting

PE47

TOF

Torque offset

PE48

*LMOP

Lost motion compensation function selection

PE49

LMCD

Lost motion compensation timing

PE50

LMCT

Lost motion compensation non-sensitive band

_ _ _ x Robust filter selection

0: Disabled

1: Enabled

When you select "Enabled" of this digit, the machine resonance suppression filter 5 set in [Pr. PB51] is not available.


_ x _ _ x _ _ _

Set the lost motion compensation for when reverse rotation (CW) switches to forward rotation (CCW) in increments of 0.01% assuming the rated torque as 100%.


Set the lost motion compensation for when forward rotation (CCW) switches to reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%.


Set the time constant of the lost motion compensation filter in increments of 0.1 ms.

If the time constant is set to "0", the torque is compensated with the value set in [Pr.

PE44] and [Pr. PE45]. If the time constant is set to other than "0", the torque is compensated with the high-pass filter output value of the set time constant, and the lost motion compensation will continue.


Set this when canceling unbalanced torque of vertical axis. Set this assuming the rated torque of the servo motor as 100%.

The torque offset does not need to be set for a machine not generating unbalanced torque.

The torque offset set with this parameter will be enabled in the position control mode, speed control mode, and torque control mode. Input commands assuming torque offset for the torque control mode.


_ _ _ x Lost motion compensation selection

0: disabled

1: enabled

_ _ x _ Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit

1: 1 kpulse unit


Set the lost motion compensation timing in increments of 0.1 ms.

You can delay the timing to perform the lost motion compensation for the set time.


Set the lost motion compensation non-sensitive band. When the fluctuation of droop pulses equals to or less than the setting value, the speed will be "0".The setting unit can be changed in [Pr. PE48].Set this parameter per encoder.


Initial value

[unit]

0h

Control mode

P S T

0h

0h

0h

0

[0.01%]

0

[0.01%]

0

[0.1 ms]

0

[0.01%]

0h

0h

0h

0h

0

[0.1 ms]

0

[pulse]/

[kpulse]

5 - 46

5. PARAMETERS

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

No./symbol/ name

Setting digit

Function

PF09

*FOP5

Function selection F-5

_ _ _ x Electronic dynamic brake selection

0: Disabled

3: Automatic (enabled only for specified servo motors)

Refer to the following table for the specified servo motors.

Series Servo motor

PF15

DBT

Electronic dynamic brake operating time

PF21

DRT

Drive recorder switching time setting

PF23

OSCL1

Vibration tough drive -

Oscillation detection level

PF24

*OSCL2

Vibration tough drive function selection

PF25

CVAT instantaneous power failure tough drive - detection time

HG-KN

HG-SN

HG-KN053/HG-KN13/HG-KN23/HG-KN43

HG-SN52


_ x _ _ x _ _ _

Set an operating time for the electronic dynamic brake.


Set a drive recorder switching time.

When a USB communication is cut during using a graph function or a graph function is terminated, the function will be changed to the drive recorder function after the setting time of this parameter.

When a value from "1" to "32767" is set, it will switch after the setting value.

When "0" is set, it will switch after 600 s.

When "-1" is set, the drive recorder function is disabled.


Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration tough drive is enabled.

However, setting "0" will be 50%.

Example: When you set "50" to the parameter, the filter will be readjusted at the time of 50% or more oscillation level.


_ _ _ x Oscillation detection alarm selection

Select alarm or warning when an oscillation continues at a filter readjustment sensitivity level of [Pr. PF23].

The digit is continuously enabled regardless of the vibration tough drive in [Pr.

PA20].

0: [AL. 54 Oscillation detection] will occur at oscillation detection.

1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.

2: Oscillation detection function disabled


_ x _ _ x _ _ _

Set the time of the [AL. 10.1 Voltage drop in the power] occurrence.

To disable the parameter, select "Disabled (_ 0 _ _)" of "Instantaneous power failure tough drive selection" in [Pr. PA20].

When "Enabled (_ 1 _ _)" is selected of "Instantaneous power failure tough drive selection" in [Pr. PA20], the power should be off for the setting value of this parameter + 1.5 s or more before cycling the power to enable a parameter whose symbol is preceded by "*".


Initial value

[unit]

3h

Control mode

P S T

0h

0h

0h

2000

[ms]

0

[s]

50

[%]

0h

0h

0h

0h

200

[ms]

5 - 47

5. PARAMETERS

No./symbol/ name

PF31

FRIC

Machine diagnosis function -

Friction judgment speed

Setting digit

Function

Set a servo motor speed to divide a friction estimation area into high and low for the friction estimation process of the machine diagnosis.

However, setting "0" will be the value half of the rated speed.

When your operation pattern is under rated speed, we recommend that you set half value to the maximum speed with this.

Maximum speed in operation

Forward rotation direction

[Pr. PF31] setting

Servo motor speed

0 r/min

Initial value

[unit]

0

[r/min]

Control mode

P S T

Operation pattern

Reverse rotation direction

Setting range: 0 to permissible speed

5 - 48

6. NORMAL GAIN ADJUSTMENT


POINT

In the torque control mode, you do not need to make gain adjustment.

Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly. In addition, make gain adjustment with a safety margin considering characteristic differences of each machine. It is recommended that generated torque during operation is under

90% of the maximum torque of the servo motor.

For the vibration suppression control tuning mode, the setting range of [Pr.

PB07] is limited. For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited. Refer to section 7.1.5 (4) for details.

6.1 Different adjustment methods

6.1.1 Adjustment on a single servo amplifier

The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment, execute "Auto tuning mode 2" and "Manual mode" in this order.

(1) Gain adjustment mode explanation

Gain adjustment mode [Pr. PA08] setting

Estimation of load to motor inertia ratio

Automatically set parameters

Manually set parameters

Auto tuning mode 1

(initial value)

_ _ _ 1 Always estimated RSP ([Pr. PA09])

Auto tuning mode 2

Manual mode

_ _ _ 2

_ _ _ 3

Fixed to [Pr. PB06] value

GD2 ([Pr. PB06])

PG1 ([Pr. PB07])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

PG1 ([Pr. PB07])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

GD2 ([Pr. PB06])

RSP ([Pr. PA09])

2 gain adjustment mode 1

(interpolation mode)

_ _ _ 0 Always estimated

GD2 ([Pr. PB06])

PG1 ([Pr. PB07])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

PG1 ([Pr. PB07])

RSP ([Pr. PA09])

2 gain adjustment mode 2 _ _ _ 4 Fixed to [Pr. PB06] value

GD2 ([Pr. PB06])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

PG2 ([Pr. PB08])

VG2 ([Pr. PB09])

VIC ([Pr. PB10])

GD2 ([Pr. PB06])

PG1 ([Pr. PB07])

RSP ([Pr. PA09])

6 - 1


(2) Adjustment sequence and mode usage

Start

Interpolation made for 2 or more axes?

No

The load fluctuation is large during driving?

No

One-touch tuning

Yes

Yes

Finished normally?

Yes

No

Adjustment OK?

Yes

No


(interpolation mode)

Handle the error

Yes

Error handling is possible?

No

Auto tuning mode 1

Yes

Adjustment OK?

No

Auto tuning mode 2

Yes

Adjustment OK?

No


Yes

Adjustment OK?

No

Manual mode

End

6.1.2 Adjustment using MR Configurator2

This section explains the functions and adjustment using the servo amplifier with MR Configurator2.

Function Description Adjustment

Machine analyzer With the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from a personal computer to the servo and measuring the machine response.

You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter.

6 - 2


6.2 One-touch tuning

POINT

After the one-touch tuning is completed, "Gain adjustment mode selection" in

[Pr. PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr.

PB06 Load to motor inertia ratio], set "Gain adjustment mode selection" in [Pr.

PA08] to "Auto tuning mode 1 (_ _ _ 1)".

When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning function selection] is "_ _ _1" (initial value).

For one-touch tuning via a network, refer to "MR-JE-_C Servo Amplifier

Instruction Manual (Network)".

At start of the one-touch tuning, only when "Auto tuning mode 1 (_ _ _ 1)" or "2 gain adjustment mode 1 (interpolation mode) (_ _ _ 0)" of "Gain adjustment mode selection" is selected in [Pr. PA08], [Pr. PB06 Load to motor inertia ratio] will be estimated.

When executing the one-touch tuning from the controller, do so when the controller and servo amplifier are connected.

When the one-touch tuning is executed in the amplifier command method, MR

Configurator2 is required.

The one-touch tuning includes two methods: the user command method and the amplifier command method.

(1) User command method

Connect MR Configurator2 and open the one-touch tuning window, and you can use the function. The user command method performs one-touch tuning by inputting commands from outside the servo amplifier.

(2) Amplifier command method

Connect MR Configurator2 and open the one-touch tuning window, and you can use the function. In the amplifier command method, when you simply input a travel distance (permissible travel distance) that collision against the equipment does not occur during servo motor driving, a command for the optimum tuning will be generated inside the servo amplifier to perform one-touch tuning.

Movable range

Permissible travel distance

Permissible travel distance

Limit switch Limit switch

Moving part

Servo motor

Tuning start position

Movable range at tuning

6 - 3


The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment mode selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other parameters will be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning response].

Table 6.1 List of parameters automatically set with one-touch tuning

Parameter

PA08

PA09

PB01

PB02

Symbol

VRFT

Name

ATU Auto tuning mode


FILT Adaptive tuning mode (adaptive filter II)

Vibration suppression control tuning mode (advanced vibration suppression control II)

Parameter Symbol

PB15

PB16

PB17

PB18

Name

NH2 Machine resonance suppression filter 2

NHQ2 Notch shape selection 2

NHF Shaft resonance suppression filter

LPF Low-pass filter setting

PB19

PB20

PB03 PST

Position command acceleration/ deceleration time constant (position smoothing)

PB21

PB06

PB07

PB08

PB09

PB10

PB12

PB13

PB14


PG1 Model loop gain


VG2 Speed loop gain


OVA Overshoot amount compensation



PB22

PB23

PB46

PB47

PB48

PB49

PB51

PE41

VFBF Low-pass filter selection






EOP3 Function selection E-3

6 - 4


6.2.1 One-touch tuning flowchart

(1) User command method

Make one-touch tuning as follows.

Start

Startup of the system

Start a system referring to chapter 4.

Operation

One-touch tuning start, mode selection

Rotate the servo motor by a controller. (In the user command method, the one-touch tuning cannot be executed if the servo motor is not operating.)

Start one-touch tuning of MR Configurator2, and select "User command method".

Response mode selection

One-touch tuning execution

One-touch tuning in progress

One-touch tuning completion

Tuning result check

Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning window of MR Configurator2.

Press "Start" during servo motor driving to execute one-touch tuning.

Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress will be displayed in % in MR Configurator2.

When one-touch tuning is completed normally, the parameters described in table 6.1 will be set automatically.

When the tuning is not completed normally, the tuning error will be displayed. (Refer to section

6.2.2 (1) (e).)

Check the tuning result.

When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to section 6.2.2 (1) (h).)

End

6 - 5


(2) Amplifier command method

Make one-touch tuning as follows.

Start

Startup of the system

Start a system referring to chapter 4.

Movement to tuning start position

One-touch tuning start, mode selection

Input of permissible travel distance

Move the moving part to the center of a movable range.

Start one-touch tuning of MR Configurator2, and select "Amplifier command method".

In the one-touch tuning window of MR Configurator2, input a maximum travel distance to move the moving part at one-touch tuning.

Response mode selection

One-touch tuning execution

One-touch tuning in progress

One-touch tuning completion

Tuning result check

Servo amplifier power cycling

Select a response mode (High mode, Basic mode, and Low mode) in the one-touch tuning window of MR Configurator2.

While the servo motor is stopped, press "Start" to start one-touch tuning. After the tuning is started, the servo motor will reciprocate automatically. Executing one-touch tuning during servo motor rotation will cause an error. After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller.

Gains and filters will be adjusted automatically. During processing of tuning, the tuning progress will be displayed in % in MR Configurator2.

One-touch tuning will be completed automatically after the tuning. When one-touch tuning is completed normally, the parameters described in table 6.1 will be updated automatically.

When the tuning is not completed normally, the tuning error will be displayed. (Refer to section

6.2.2 (1) (e).)

Check the tuning result.

When the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value. (Refer to section 6.2.2 (1) (h).)

After executing the one-touch tuning, cycling the power of the servo amplifier returns to the state in which control is performed from the controller.

End

6 - 6


6.2.2 Display transition and operation procedure of one-touch tuning

(1) When you use MR Configurator2

(a) Command method selection

Select a command method from two methods in the one-touch tuning window of MR Configurator2.

1)

2)

6 - 7


1) User command method

It is recommended to input commands meeting the following conditions to the servo amplifier. If one-touch tuning is executed while commands which do not meet the conditions are inputted to the servo amplifier, the one-touch tuning error may occur.

One cycle time

Travel distance

Servo motor speed

Forward rotation

0 r/min

Reverse rotation Acceleration time constant


Dwell time

Fig. 6.1 Recommended command for one-touch tuning in the user command method

Item

Travel distance

Description

Set 100 pulses or more in encoder unit. Setting less than 100 pulses will cause the one-touch tuning error

"C004".

Servo motor speed Set 150 r/min or higher. Setting less than 150 r/min may cause the one-touch tuning error "C005".



Dwell time

Set the time to reach 2000 r/min to 5 s or less.

Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10% or more of the rated torque.

The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration torque is larger, and the one-touch tuning result will be closer to the optimum value.

Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".

One cycle time Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".

6 - 8


2) Amplifier command method

Input a permissible travel distance. Input it in the servo motor-side resolution unit. In the amplifier command method, the servo motor will be operated in a range between "current value ± permissible travel distance". Input the permissible travel distance as large as possible within a range that the movable part does not collide against the machine. Inputting a small permissible travel distance decreases the possibility that the moving part will collide against the machine.

However, the estimation accuracy of the load to motor inertia ratio may be lower, resulting in improper tuning.

Also, executing the one-touch tuning in the amplifier command method will generate a command for the following optimum tuning inside the servo amplifier to start the tuning.

Servo motor speed (Note)

Travel distance (Note)

Dwell time (Note)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation


(Note)


(Note)

Note. It will be automatically generated in the servo amplifier.

Fig. 6.2 Command generated by one-touch tuning in the amplifier command method

Item Description

Travel distance

An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible travel distance with MR Configurator2.

Servo motor speed A speed not exceeding 1/2 of the rated speed will be automatically set.



Dwell time

An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of the rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.

A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.

6 - 9


(b) Response mode selection

Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.

Response mode

High mode

Basic mode

Low mode

Table 6.2 Response mode explanations

Explanation

This mode is for high-rigid system.

This mode is for standard system.

This mode is for low-rigid system.

6 - 10


Refer to the following table for selecting a response mode.

Low mode

Response mode

Basic mode

Table 6.3 Guideline for response mode

High mode

Response


Guideline of corresponding machine

Low response

Arm robot

Precision working machine

General machine tool conveyor

Inserter

Mounter

Bonder

High response

6 - 11


(c) One-touch tuning execution

POINT

For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing the value of [Pr. PA25 One-touch tuning overshoot permissible level] will shorten the settling time and improve the response.

When executing one-touch tuning in the amplifier command method, turn on

EM2, LSP, and LSN. When EM2, LSP, and LSN are turned off during one-touch tuning, "C008" will be displayed at status in error code, and the one-touch tuning will be canceled. When setting LSP and LSN to automatic on, enable the check box "LSP, LSN auto ON" in the one-touch tuning window of MR Configurator2.

After the response mode is selected in (1) (b) in this section, clicking "Start" will start one-touch tuning. If "Start" is clicked while the servo motor stops, "C002" or "C004" will be displayed at status in error code. (Refer to (1) (e) in this section for error codes.)

Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier command method, an optimum tuning command will be generated in the servo amplifier after servoon. Then, the servo motor will reciprocate, and the one-touch tuning will be executed. After the tuning is completed or canceled, the servo amplifier will be the servo-off status. When the servo-on command is inputted from outside, the amplifier will be the servo-on status.

6 - 12


After one-touch tuning is executed using the amplifier command method, control will not be performed by commands from the controller. To return to the state in which control is performed from the controller, cycle the power.

During processing of one-touch tuning, the progress will be displayed as follows. Tuning will be completed at 100%.

Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and the following window will be displayed. Select whether or not to reflect the tuning result in the project.

6 - 13


After the one-touch tuning is completed, "0000" will be displayed at status in error code. In addition, settling time and overshoot amount will be displayed in "Adjustment result".

(d) Stop of one-touch tuning

During one-touch tuning, clicking the stop button stops one-touch tuning. At this time, "C000" is displayed at status in error code. After the one-touch tuning is stopped, parameters will return to the values at the start of the one-touch tuning. When executing one-touch tuning again, stop the servo motor once. In addition, after returning the moving part to the tuning start position, execute it.

6 - 14


(e) If an error occurs

If a tuning error occurs during tuning, one-touch tuning will be stopped. With that, the following error code will be displayed in status. Check the cause of tuning error. When executing one-touch tuning again, stop the servo motor once. In addition, after returning the moving part to the tuning start position, execute it.

Display

C000

C001

C002

C003

C004

C005

Time-out

Name

Tuning canceled

Overshoot exceeded

Servo-off during tuning

Control mode error

Load to motor inertia ratio misestimated

2. The load to motor inertia ratio was not estimated due to an oscillation or other influences.

Error detail

The stop button was clicked during one-touch tuning.

Overshoot amount is a value larger than the one set in [Pr. PA10 In-position range] and

[Pr. PA25 One-touch tuning - Overshoot permissible level].

The one-touch tuning was attempted in the user command method during servo-off.

The servo amplifier will be servo-off status during one-touch tuning.

1. The one-touch tuning was attempted while the torque control mode was selected in the control modes.

2. During one-touch tuning, the control mode was attempted to change from the position control mode to the speed control mode.

1. One cycle time during the operation has been over 30 s.

2. The command speed is slow.

3. The operation interval of the continuous operation is short.

1. The estimation of the load to motor inertia ratio at one-touch tuning was a failure.

Corrective action example

Increase the in-position range or overshoot permissible level.

When executing one-touch tuning in the user command method, turn to servo-on, and then execute it.

Prevent the servo amplifier from being the servo-off status during one-touch tuning.

Select the position control mode or speed control mode for the control mode, and then execute one-touch tuning. Do not change the control mode during the one-touch tuning.

Set one cycle time during the operation (time from the command start to the next command start) to 30 s or less.

Set the servo motor speed to 100 r/min or higher. Error is less likely to occur as the setting speed is higher.

When one-touch tuning by the amplifier command is used, set a permissible travel distance so that the servo motor speed is 100 r/min or higher. Set a permissible travel distance to two or more revolutions as a guide value to set the servo motor speed to 100 r/min.

Set the stop interval during operation to 200 ms or more. Error is less likely to occur as the setting time is longer.

Drive the motor with meeting conditions as follows.

The acceleration time constant/deceleration time constant to reach 2000 r/min is 5 s or less.

Speed is 150 r/min or higher.

The load to motor inertia ratio is 100 times or less.

The acceleration/deceleration torque is

10% or more of the rated torque.

Set to the auto tuning mode that does not estimate the load to motor inertia ratio as follows, and then execute the one-touch tuning.

Select "Auto tuning mode 2 (_ _ _ 2)",

"Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)" of "Gain adjustment mode selection" in [Pr. PA08].

Manually set [Pr. PB06 Load to motor inertia ratio] properly.

6 - 15


Display

C006

C007

C008

C009

C00A

C00F

Name

Amplifier command start error

Amplifier command generation error

Stop signal

Parameter

Alarm

One-touch tuning disabled

Error detail

One-touch tuning was attempted to start in the amplifier command method under the following speed condition.

Servo motor speed: 20 r/min or higher

1. One-touch tuning was executed in the amplifier command method when the permissible travel distance is set to 100 pulses or less in the encoder pulse unit, or the distance is set not to increase the servo motor speed to 150 r/min or higher at the time of load to motor inertia ratio estimation.

2. The torque limit has been set to 0.

EM2, LSP, and LSN were turned off during one-touch tuning in the amplifier command method.

Parameters for manufacturer setting have been changed.

One-touch tuning was attempted to start in the amplifier command method during alarm or warning.

Alarm or warning occurred during one-touch tuning by the amplifier command method.

"One-touch tuning function selection" in [Pr.

PA21] is "Disabled (_ _ _ 0)".

Corrective action example

Execute the one-touch tuning in the amplifier command method while the servo motor is stopped.

Set a permissible travel distance to 100 pulses or more in the encoder pulse unit, or a distance so as to increase the servo motor speed to 150 r/min or higher at the time of load to motor inertia ratio estimation, and then execute the one-touch tuning. Set a permissible travel distance to four or more revolutions as a guide value.

Load to motor inertia ratio will be estimated when "0000" or "0001" is set in [Pr. PA08

Auto tuning mode] at the start of one-touch tuning.

If the permissible travel distance is short and the servo motor speed cannot be increased to

150 r/min or higher, select "Auto tuning mode

2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)" of "Gain adjustment mode selection" in [Pr. PA08].

Set the torque limit value to greater than 0.

Review the one-touch tuning start position and permissible travel distance for the amplifier command method.

After ensuring safety, turn on EM2, LSP, and

LSN.

Return the parameters for manufacturer setting to the initial values.

Start one-touch tuning when no alarm or warning occurs.

Prevent alarm or warning from occurring during one-touch tuning.

Select "Enabled (_ _ _ 1)".

(f) If an alarm occurs

If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated. Remove the cause of the alarm and execute one-touch tuning again. When executing one-touch tuning in the amplifier command method again, return the moving part to the tuning start position.

(g) If a warning occurs

If a warning which continues the motor driving occurs during one-touch tuning by the user command method, the tuning will be continued. If a warning which does not continue the motor driving occurs during the tuning, one-touch tuning will be stopped.

One-touch tuning will be stopped when warning occurs during one-touch tuning by the amplifier command method regardless of the warning type. Remove the cause of the warning, and return the moving part to the tuning start position. Then, execute the tuning again.

6 - 16


(h) Initializing one-touch tuning

Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to return the parameter to the initial value. Refer to table 6.1 for the parameters which you can initialize.

Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 enables to return the parameter to the value before clicking "Start".

When the initialization of one-touch tuning is completed, the following window will be displayed.

(returning to initial value)

6 - 17


6.2.3 Caution for one-touch tuning

(1) Caution common for user command method and amplifier command method

(a) The tuning is not available in the torque control mode.

(b) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor driving is occurring.

(c) You can execute the one-touch tuning during the following test operation modes marked by " ".

Test operation mode

How to one-touch tuning Output signal (DO) forced output

JOG operation

Positioning operation

Motor-less operation

Program operation

Single-step feed

MR Configurator2

(d) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or unusual noise may occur during the tuning.

(2) Caution for amplifier command method

(a) Starting one-touch tuning while the servo motor is rotating displays "C006" at status in error code, and the one-touch tuning cannot be executed.

(b) One-touch tuning is not available during the test operation mode. The following test operation modes cannot be executed during one-touch tuning.

1) Positioning operation

2) JOG operation

3) Program operation

4) Machine analyzer operation

5) Single-step feed

(c) After one-touch tuning is executed, control will not be performed by commands from the controller.

To return to the state in which control is performed from the controller, reset the controller or cycle the power of the servo amplifier.

(d) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot, set a value sufficient to prevent machine collision.

(e) When Auto tuning mode 2, Manual mode, or 2 gain adjustment mode 2 is selected in [Pr. PA08 Auto tuning mode], the load to motor inertia ratio will not be estimated. An optimum acceleration/deceleration command will be generated by [Pr. PB06 Load to motor inertia ratio] at the start of one-touch tuning. When the load to motor inertia ratio is incorrect, the optimum acceleration/deceleration command may not be generated, causing the tuning to fail.

(f) When one-touch tuning is started by using communication, if the communication is interrupted during the tuning, the servo motor will stop, and the tuning will also stop. The parameter will return to the one at the start of the one-touch tuning.

(g) When one-touch tuning is started during the speed control mode, the mode will be switched to the position control mode automatically. The tuning result may differ from the one obtained by executing tuning by using the speed command.

6 - 18


6.3 Auto tuning

6.3.1 Auto tuning mode

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.

(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.

In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains automatically.

The following parameters are automatically adjusted in the auto tuning mode 1.

Parameter Symbol Name

PB06

PB07

PB08

PB09

PB10


PG1 Model loop gain


VG2 Speed loop gain


POINT

The auto tuning mode 1 may not be performed properly if all of the following conditions are not satisfied.

Time to reach 2000 r/min is the acceleration/deceleration time constant of 5 s or less.

Speed is 150 r/min or higher.

The load to motor inertia ratio is 100 times or less.

The acceleration/deceleration torque is 10% or more of the rated torque.

Under operating conditions which will impose sudden disturbance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor inertia ratio in [Pr. PB06].

The following parameters are automatically adjusted in the auto tuning mode 2.


PB07

PB08

PB09

PB10

PG1 Model loop gain


VG2 Speed loop gain


6 - 19


6.3.2 Auto tuning mode basis

The block diagram of real-time auto tuning is shown below.

Command +

-

Loop gain

PG1, PG2,

VG2, VIC

Automatic setting

+

-

Current control

Current feedback

M

Load moment of inertia

Encoder

Servo motor

Gain table

Set 0 or 1 to turn on.

Switch

Real-time auto tuning section

Load to motor inertia ratio estimation section

Position/speed feedback

Speed feedback

[Pr. PA08]

0 0 0

[Pr. PA09]

Gain adjustment mode selection Response level setting


When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of estimation are written to [Pr. PB06 Load to motor inertia ratio]. These results can be confirmed on the status display screen of the MR Configurator2.

If you have already known the value of the load to motor inertia ratio or failed to estimate, set "Gain adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] to stop the estimation (turning off the switch in above diagram), and set the load to motor inertia ratio ([Pr. PB06]) manually.

From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop gains are automatically set on the basis of the internal gain table.

The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on.

At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as an initial value.

POINT

If sudden disturbance torque is imposed during operation, the load to motor inertia ratio may be misestimated temporarily. In such a case, set "Gain adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and then set the correct load to motor inertia ratio in [Pr. PB06].

When any of the auto tuning mode 1 and auto tuning mode settings is changed to the manual mode 2 setting, the current loop gains and load to motor inertia ratio estimation value are saved in the EEP-ROM.

6 - 20


6.3.3 Adjustment procedure by auto tuning

Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows.

Auto tuning adjustment

Acceleration/deceleration repeated

Yes

Load to motor inertia ratio estimation value stable?

No

Auto tuning conditions are not satisfied? (Estimation of load to motor inertia ratio is

difficult.)

No

Yes

Set [Pr. PA08] to "_ _ _ 2" and set

[Pr. PB06 Load to motor inertia ratio] manually.

Adjust response level setting so that desired response is achieved on vibration-free level.

Acceleration/deceleration repeated

Requested performance satisfied?

Yes

End

No

To 2 gain adjustment mode 2

6 - 21


6.3.4 Response level setting in auto tuning mode

Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the trackability to a command improves and settling time decreases, but setting the response level too high will generate vibration. Set a value to obtain the desired response level within the vibration-free range.

If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.

PB13] to [Pr. PB16], and [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance.

Suppressing machine resonance may allow the response level setting to increase. Refer to section 7.1.1 and

7.1.2 for settings of the adaptive tuning mode and machine resonance suppression filter.

[Pr. PA09]

Setting value

10

11

12

13

14

15

16

17

18

19

20

6

7

4

5

8

9

1

2

3


Response


Low response 2.7

3.6

4.9

Middle response

18.1

20.4

23.0

25.9

29.2

32.9

37.0

41.7

47.0

52.9

59.6

6.6

10.0

11.3

12.7

14.3

16.1

30

31

32

33

34

35

36

37

38

39

40

Setting value

21

22

23

24

25

26

27

28

29


Response


Middle response 67.1

75.6

85.2

High response

195.9

220.6

248.5

279.9

315.3

355.1

95.9

108.0

121.7

137.1

154.4

173.9

400.0

446.6

501.2

571.5

642.7

6 - 22


6.4 Manual mode

If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually.

POINT

If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. (Section 7.1.1,

7.1.2)

(1) For speed control

(a) Parameter

The following parameters are used for gain adjustment.

Parameter Symbol

PB06

PB07

PB09

PB10

Name


PG1 Model loop gain

VG2 Speed loop gain


(b) Adjustment procedure

Step Operation

1 Brief-adjust with auto tuning. Refer to section 6.3.3.

2

Change the setting of auto tuning to the manual mode ([Pr.

PA08]: _ _ _ 3).

3

Set an estimated value to the load to motor inertia ratio. (If the estimate value with auto tuning is correct, setting change is not required.)

4

5

6

Set a small value to the model loop gain.

Set a large value to the speed integral compensation.

Increase the speed loop gain within the vibration- and unusual noise-free range, and return slightly if vibration takes place.

Decrease the speed integral compensation within the vibrationfree range, and return slightly if vibration takes place.

7

8

Increase the model loop gain, and return slightly if overshoot takes place.

If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 7.

9 While checking the motor status, fine-adjust each gain.

Description

Increase the speed loop gain.

Decrease the time constant of the speed integral compensation.

Increase the model loop gain.

Suppression of machine resonance

Refer to section 7.1.1 and

7.1.2.

Fine adjustment

6 - 23


(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]

This parameter determines the response level of the speed control loop. Increasing the setting increases the response level, but the mechanical system is liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response frequency [Hz] =

Speed loop gain

(1 + Load to motor inertia ratio) × 2

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load to motor inertia ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation setting [ms] ≥

2000 to 3000

Speed loop gain/(1 + Load to motor inertia ratio)

3) [Pr. PB07 Model loop gain]

This parameter determines the response level to a speed command. Increasing the value improves trackability to a speed command, but a too high value will make overshoot liable to occur at settling.

Estimated model loop gain ≤

Speed loop gain

(1 + Load to motor inertia ratio)

×

1

8

(2) For position control

(a) Parameter

The following parameters are used for gain adjustment.

Parameter Symbol

PB06

PB07

PB08

PB09

PB10

Name


PG1 Model loop gain


VG2 Speed loop gain


6 - 24


(b) Adjustment procedure

Step Operation

1 Brief-adjust with auto tuning. Refer to section 6.3.3.

2

Change the setting of auto tuning to the manual mode ([Pr.

PA08]: _ _ _ 3).

3

4

5

6

Set an estimated value to the load to motor inertia ratio. (If the estimate value with auto tuning is correct, setting change is not required.)

Set a small value to the model loop gain and the position loop gain.

Set a large value to the speed integral compensation.

Increase the speed loop gain within the vibration- and unusual noise-free range, and return slightly if vibration takes place.

Decrease the speed integral compensation within the vibrationfree range, and return slightly if vibration takes place.

7

8

9

Description

Increase the position loop gain, and return slightly if vibration takes place.

Increase the model loop gain, and return slightly if overshoot takes place.

If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8.

Increase the speed loop gain.

Decrease the time constant of the speed integral compensation.

Increase the position loop gain.

Increase the model loop gain.

Suppression of machine resonance

Section 7.1.1 and 7.1.2

Fine adjustment

(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]

This parameter determines the response level of the speed control loop. Increasing the setting increases the response level, but the mechanical system is liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response frequency [Hz] =

Speed loop gain

(1 + Load to motor inertia ratio) × 2

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load to motor inertia ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation setting [ms] ≥

2000 to 3000

Speed loop gain/(1 + Load to motor inertia ratio)

6 - 25


3) [Pr. PB08 Position loop gain]

This parameter determines the response level to a disturbance to the position control loop.

Increasing the position loop gain increases the response level to a disturbance, but the mechanical system is liable to vibrate.

Position loop gain guideline ≤

Speed loop gain


×

1

8

4) [Pr. PB07 Model loop gain]

This parameter determines the response level to a position command. Increasing the value improves trackability to a position command, but a too high value will make overshoot liable to occur at settling.

Estimated model loop gain ≤

Speed loop gain


×

1

8

6 - 26


6.5 2 gain adjustment mode

Use the 2 gain adjustment mode to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command trackability. Other parameters for gain adjustment are set automatically.

(1) 2 gain adjustment mode 1

For the 2 gain adjustment mode 1, manually set the model loop gain that determines command trackability. The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for gain adjustment to optimum gains using auto tuning response.

The following parameters are used for 2 gain adjustment mode 1.

(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.


PB06

PB08

PB09

PB10



VG2 Speed loop gain


(b) Manually adjusted parameter

The following parameters are adjustable manually.

Parameter

PA09

PB07

Symbol


PG1 Model loop gain

Name

(2) 2 gain adjustment mode 2

Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load to motor inertia ratio in [Pr. PB06].

The following parameters are used for 2 gain adjustment mode 2.

(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.


PB08

PB09

PB10


VG2 Speed loop gain


(b) Manually adjusted parameter

The following parameters are adjustable manually.

Parameter

PA09

PB06

PB07

Symbol



PG1 Model loop gain

Name

6 - 27


(3) Adjustment procedure of 2 gain adjustment mode

POINT

Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain adjustment mode.

Step

1

2

3

4

Operation

Set to the auto tuning mode.

During operation, increase the response level setting value in [Pr.

PA09], and return the setting if vibration occurs.

Check value of the model loop gain and the load to motor inertia ratio in advance.

Set the 2 gain adjustment mode 1 ([Pr. PA08]: _ _ _ 0).

Description

Select the auto tuning mode 1.

Adjustment in auto tuning mode 1

Check the upper setting limits.

Select the 2 gain adjustment mode 1

(interpolation mode).

Check the load to motor inertia ratio. 5

6

7

When the load to motor inertia ratio is different from the design value, select the 2 gain adjustment mode 2 ([Pr. PA08]: _ _ _ 4) and then set the load to motor inertia ratio manually in [Pr. PB06].

Set the model loop gain of all the axes to be interpolated to the same value. At that time, adjust to the setting value of the axis, which has the smallest model loop gain.

Considering the interpolation characteristic and motor status, fine-adjust the model loop gain and response level setting.

Set model loop gain.

Fine adjustment

(4) Parameter adjustment

[Pr. PB07 Model loop gain]

This parameter determines the response level of the position control loop. Increasing the value improves trackability to a position command, but a too high value will make overshoot liable to occur at settling.

Number of droop pulses is determined by the following expression.

Position command frequency [pulse/s]

Number of droop pulses [pulse] =

Model loop gain setting

Position command frequency =

Speed [r/min]

60

× Encoder resolution (number of pulses per servo motor revolution)

6 - 28

7. SPECIAL ADJUSTMENT FUNCTIONS


POINT

The functions given in this chapter need not be used normally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6.

7.1 Filter setting

The following filters are available with MR-JE servo amplifiers.

Command pulse train

Command filter

+

-

[Pr. PB18]

Low-pass setting

[Pr. PB13]


[Pr. PB15]


[Pr. PB46]


[Pr. PB49]

[Pr. PB48]


[Pr. PB17]


[Pr. PE41]

[Pr. PB50]


Robust filter

PWM

Load

M

Servo motor

Encoder

7.1.1 Machine resonance suppression filter

POINT

The machine resonance suppression filter is a delay factor for the servo system.

Therefore, vibration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide.

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.

A wider notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

The machine characteristic can be grasped beforehand by the machine analyzer on MR Configurator2. This allows the required notch frequency and notch characteristics to be determined.

If a mechanical system has a unique resonance point, increasing the servo system response level may cause resonance (vibration or unusual noise) in the mechanical system at that resonance frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system. The setting range is 10 Hz to 4500 Hz.

7 - 1


(1) Function

The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width.

Machine resonance point

Frequency

Notch width

Notch depth

Frequency

Notch frequency

You can set five machine resonance suppression filters at most.

Filter






Setting parameter

PB01/PB13/PB14

PB15/PB16

PB46/PB47

PB48/PB49

PB50/PB51

Precaution

The filter can be set automatically with

"Filter tuning mode selection" in [Pr.

PB01].

Enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter.

Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation.

The shaft resonance suppression filter is enabled for the initial setting.

Enabling the robust filter disables the machine resonance suppression filter 5.

The robust filter is disabled for the initial setting.

Parameter that is reset with vibration tough drive function

PB13

Parameter automatically adjusted with onetouch tuning

PB01/PB13/PB14

PB15 PB15/PB16

PB46/PB47

PB48/PB49

PB51

7 - 2


(2) Parameter

(a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14])

Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1

([Pr. PB13] and [Pr. PB14])

When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting of the machine resonance suppression filter 1 is enabled.

(b) Machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16])

To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in

[Pr. PB16].

How to set the machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16]) is the same as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

(c) Machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47])


[Pr. PB47].


(d) Machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49])


[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter.


(e) Machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51])


[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance suppression filter 5.


7 - 3


7.1.2 Adaptive filter II

POINT

The machine resonance frequency which adaptive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually.

When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds.

When adaptive tuning is executed, machine resonance is detected for a maximum of 10 s and a filter is generated. After filter generation, the adaptive tuning mode automatically shifts to the manual setting.

Adaptive tuning generates the optimum filter with the currently set control gains.

If vibration occurs when the response setting is increased, execute adaptive tuning again.

During adaptive tuning, a filter having the best notch depth at the set control gain is generated. To allow a filter margin against machine resonance, increase the notch depth in the manual setting.

Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics.

The frequency is estimated more accurately in the high accuracy mode's adaptive tuning compared to the standard mode. However, the tuning sound may be larger in the high accuracy mode.

(1) Function

Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.

Machine resonance point Machine resonance point

Frequency Frequency

Frequency

Notch frequency

When machine resonance is large and frequency is low

Frequency

Notch frequency

When machine resonance is small and frequency is high

7 - 4


(2) Parameter

Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].

[Pr. PB01]

0 0

Filter tuning mode selection

Setting value

Filter tuning mode selection

0

1

2

Disabled

Automatic setting

Manual setting

Automatically set parameter

PB13/PB14

Tuning accuracy selection

1: High accuracy

7 - 5


(3) Adaptive tuning mode procedure

Adaptive tuning

Operation

Yes

Is the target response reached?

No

Increase the response setting.

In the standard mode

Has vibration or unusual noise occurred?

Yes

No

In the high accuracy mode tuning in the standard mode.

(Set [Pr. PB01] to "0 _ _ 1".) tuning in the high accuracy mode.

(Set [Pr. PB01] to "1 _ _ 1".)

Tuning ends automatically after the predetermined period of time.

([Pr. PB01] will be "_ _ _ 2" or "_ _ _

0".)

If assumption fails after tuning is executed at a large vibration or oscillation, decrease the response setting temporarily down to the vibration level and execute again.

Has vibration or unusual noise been resolved?

Yes

No

Decrease the response until vibration or unusual noise is resolved.

Using the machine analyzer, set the filter manually.

Factor

The response has increased to the machine limit.

The machine is too complicated to provide the optimum filter.

End

7 - 6


7.1.3 Shaft resonance suppression filter

POINT

This filter is set properly by default according to servo motor you use and load moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0"

(automatic setting) because changing "Shaft resonance suppression filter selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may lower the performance.

(1) Function

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses the vibration.

When you select "Automatic setting", the filter will be set automatically on the basis of the servo motor you use and the load to motor inertia ratio. The disabled setting increases the response of the servo amplifier for high resonance frequency.

(2) Parameter

Set "Shaft resonance suppression filter selection" in [Pr. PB23].

[Pr. PB23]

0 1 0

Shaft resonance suppression filter selection


1: Manual setting

2: Disabled

To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".

To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting values are as follows.

Shaft resonance suppression filter setting frequency selection

Setting value Frequency [Hz]

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

_ _ 0 C

_ _ 0 D

_ _ 0 E

_ _ 0 F

Disabled

Disabled

4500

3000

2250

1800

1500

1285

1125

1000

900

818

750

692

642

600

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

Setting value Frequency [Hz]

391

375

360

346

333

321

310

300

290

562

529

500

473

450

428

409

7 - 7


7.1.4 Low-pass filter

(1) Function

When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as the initial value. The filter frequency of the low-pass filter is automatically adjusted to the value in the following equation.

Filter frequency ([rad/s]) =

VG2

1 + GD2

× 8

However, when an automatically adjusted value is smaller than VG2, the filter frequency will be the VG2 value.

To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr. PB23].

(2) Parameter

Set "Low-pass filter selection" in [Pr. PB23].

[Pr. PB23]

0 1 0

Low-pass filter selection


1: Manual setting

2: Disabled

7.1.5 Advanced vibration suppression control II

POINT

The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is

"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment mode 2 (_ _ _ 4)".

The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range, set manually.

Stop the servo motor before changing the vibration suppression control-related parameters. Otherwise, it may cause an unexpected operation.

For positioning operation during execution of vibration suppression control tuning, provide a stop time to ensure a stop after vibration damping.

Vibration suppression control tuning may not make normal estimation if the residual vibration at the servo motor side is small.

Vibration suppression control tuning sets the optimum parameter with the currently set control gains. When the response setting is increased, set vibration suppression control tuning again.

When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].

7 - 8


(1) Function

Use the vibration suppression control to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not vibrate.

Servo motor side

Load side t

Vibration suppression: off (normal)

Servo motor side

Load side t

Vibration suppression control: on

When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine side vibration two times at most.

In the vibration suppression control tuning mode, this mode shifts to the manual setting after the positioning operation is performed the predetermined number of times. For manual setting, adjust the vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.

PB52] to [Pr. PB55].

(2) Parameter

Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].

When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning mode selection" in addition.

[Pr. PB02]

0 0

Vibration suppression control 1 tuning mode

Setting value

_ _ _ 0

_ _ _ 1

_ _ _ 2

Vibration suppression control 1 tuning mode selection

Disabled

Automatic setting

Manual setting

Vibration suppression control 2 tuning mode

Setting value

_ _ 0 _

_ _ 1 _

_ _ 2 _

Vibration suppression control 2 tuning mode selection

Disabled

Automatic setting

Manual setting


PB19/PB20/PB21/PB22


PB52/PB53/PB54/PB55

7 - 9


(3) Vibration suppression control tuning procedure

The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning.

Vibration suppression control tuning

Operation

Yes Is the target response reached?

No

Increase the response setting.

Has vibration of workpiece end/device increased?

No

Yes

Stop operation.

Execute or re-execute vibration suppression control tuning.

(Set [Pr. PB02] to "_ _ _ 1".)

Resume operation.

Tuning ends automatically after positioning operation is performed the predetermined number of times.

([Pr. PB02] will be "_ _ _ 2" or

"_ _ _ 0".)

Has vibration of workpiece end/device been resolved?

No

Yes

Decrease the response until vibration of workpiece end/device is resolved.

Using a machine analyzer or considering load-side vibration waveform, set the vibration suppression control manually.

Factor

Estimation cannot be made as load-side vibration has not been transmitted to the servo motor side.

The response of the model loop gain has increased to the load-side vibration frequency

(vibration suppression control limit).

End

7 - 10


(4) Vibration suppression control manual mode

POINT

When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibration frequency does not produce an effect.

When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external equipment, do not set the same value but set different values to improve the vibration suppression performance.

The setting range of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53] varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled.

Measure work-side vibration and device shake with the machine analyzer or external measuring instrument, and set the following parameters to adjust vibration suppression control manually.

Setting item

Vibration suppression control 1


Vibration suppression control - Vibration frequency

Vibration suppression control - Resonance frequency

Vibration suppression control - Vibration frequency damping

Vibration suppression control - Resonance frequency damping

[Pr. PB19]

[Pr. PB20]

[Pr. PB21]

[Pr. PB22]

[Pr. PB52]

[Pr. PB53]

[Pr. PB54]

[Pr. PB55]

7 - 11


Step 1. Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or

"Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr.

PB02].

Step 2. Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control -

Resonance frequency" as follows.

However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency have the following usable range and recommended range.

Vibration suppression control


Usable range

[Pr. PB19] > 1/2π × (0.9 × [Pr. PB07])

[Pr. PB20] > 1/2π × (0.9 × [Pr. PB07])

When [Pr. PB19] < [Pr. PB52],

[Pr. PB52] > (5.0 + 0.1 × [Pr. PB07])

[Pr. PB53] > (5.0 + 0.1 × [Pr. PB07])

1.1 < [Pr. PB52]/[Pr. PB19] < 5.5

[Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])

Recommended setting range

[Pr. PB19] > 1/2π × (1.5 × [Pr. PB07])

[Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])

When [Pr. PB19] < [Pr. PB52],

[Pr. PB52], [Pr. PB53] > 6.25 Hz

1.1 < [Pr. PB52]/[Pr. PB19] < 4

[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])

(a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external equipment.


Vibration frequency

(anti-resonance frequency)

[Pr. PB52]


Resonance frequency

[Pr. PB53]

Gain characteristics

Phase

-90 degrees

1 Hz 300 Hz


Vibration frequency

(anti-resonance frequency)

[Pr. PB19]

Resonance of more than

300 Hz is not the target of control.


Resonance frequency

[Pr. PB20]

(b) When vibration can be confirmed using monitor signal or external sensor

Motor-side vibration

(droop pulses)

Position command frequency

External acceleration pickup signal, etc.

t

Vibration cycle [Hz]

Vibration suppression control -

Vibration frequency

Vibration suppression control -

Resonance frequency

Vibration cycle [Hz]

Set the same value.

Step 3. Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration suppression control - Resonance frequency damping".

7 - 12 t


7.1.6 Command notch filter

POINT

By using the advanced vibration suppression control II and the command notch filter, the load-side vibration of three frequencies can be suppressed.

The frequency range of machine vibration, which can be supported by the command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to the machine vibration frequency and within the range.

When [Pr. PB45 Command notch filter] is changed during the positioning operation, the changed setting is not reflected. The setting is reflected approximately 150 ms after the servo motor stops (after servo-lock).

(1) Function

Command notch filter has a function that lowers the gain of the specified frequency contained in a position command. By lowering the gain, load-side vibration, such as work-side vibration and base shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be set.

Load side t

Command notch filter: disabled

Load side t

Command notch filter: enabled

7 - 13


(2) Parameter

Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency, set the closest value to the vibration frequency [Hz] at the load side.

[Pr. PB45]

0

Notch depth

Setting value

Depth

[dB]

E

F

C

D

A

B

8

9

6

7

4

5

2

3

0

1

-6.0

-5.0

-4.1

-3.3

-2.5

-1.8

-1.2

-0.6

-40.0

-24.1

-18.1

-14.5

-12.0

-10.1

-8.5

-7.2

Command notch filter setting frequency

Setting value

14

15

16

17

10

11

12

13

18

19

1A

0C

0D

0E

0F

08

09

0A

0B

04

05

06

07

00

01

02

03

1B

1C

1D

1E

1F

112

107

102

97

140

132

125

118

93

90

86

187

173

160

150

281

250

225

204

Disabled

2250

1125

750

562

450

375

321

83

80

77

75

72

35.2

33.1

31.3

29.6

28.1

26.8

25.6

24.5

23.4

22.5

21.6

40

38

37

36

46

45

43

41

56

53

51

48

70

66

62

59

20.8

20.1

19.4

18.8

18.2

Setting value

34

35

36

37

30

31

32

33

38

39

3A

2C

2D

2E

2F

28

29

2A

2B

24

25

26

27

20

21

22

23

3B

3C

3D

3E

3F

Setting value

54

55

56

57

50

51

52

53

58

59

5A

4C

4D

4E

4F

48

49

4A

4B

44

45

46

47

40

41

42

43

5B

5C

5D

5E

5F

7.0

6.7

6.4

6.1

8.8

8.3

7.8

7.4

5.9

5.6

5.4

11.7

11.3

10.8

10.4

10.0

9.7

9.4

9.1

17.6

16.5

15.6

14.8

14.1

13.4

12.8

12.2

5.2

5.0

4.9

4.7

4.5

7.2 Gain switching function

You can switch gains with the function. You can switch gains during rotation and during stop, and can use an input device to switch gains during operation.

7.2.1 Applications

The following shows when you use the function.

(1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains using an input device to ensure stability of the servo system since the load to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

7 - 14


GD2

[Pr. PB06]

GD2B

[Pr. PB29]

PG1

[Pr. PB07]

PG1B

[Pr. PB60]

PG2

[Pr. PB08]

PG2B

[Pr. PB30]

VG2

[Pr. PB09]

VG2B

[Pr. PB31]

VIC

[Pr. PB10]

VICB

[Pr. PB32]

7.2.2 Function block diagram

The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition].

Control command from controller or

Input device (CDP).

CDP

[Pr. PB26]

Command pulse frequency

Droop pulses

Model speed

CDL

[Pr. PB27]

-

+

-

+

-

+

Comparator

Changing

Enabled

GD2 value

Enabled

PG1 value

Enabled

PG2 value

Enabled

VG2 value

Enabled

VIC value

VRF14

[Pr. PB22]

VRF14B

[Pr. PB36]

VRF21

[Pr. PB52]

VRF21B

[Pr. PB56]

VRF22

[Pr. PB53]

VRF22B

[Pr. PB57]

VRF23

[Pr. PB54]

VRF23B

[Pr. PB58]

VRF24

[Pr. PB55]

VRF24B

[Pr. PB59]

VRF11

[Pr. PB19]

VRF11B

[Pr. PB33]

VRF12

[Pr. PB20]

VRF12B

[Pr. PB34]

VRF13

[Pr. PB21]

VRF13B

[Pr. PB35]

Enabled

VRF11 value

Enabled

VRF12 value

Enabled

VRF13 value

Enabled

VRF14 value

Enabled

VRF21 value

Enabled

VRF22 value

Enabled

VRF23 value

7 - 15


7.2.3 Parameter

When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.

(1) Parameter for setting gain switching condition

Parameter Symbol Name Unit Description

PB26

PB27

PB28

CDP Gain switching function

CDL Gain switching condition

CDT Gain switching time constant

[kpulse/s]

/[pulse]

/[r/min]

Select the changing condition.

Set the changing condition values.

[ms] Set the filter time constant for a gain change at changing.

(a) [Pr. PB26 Gain switching function]

Set the gain switching condition. Select the switching condition in the first to third digits.

[Pr. PB26]

0

Gain switching selection

0: Disabled

1: Switching is enabled by control command from controller (C_CDP) and Input device CDP (Gain switching)

2: Command frequency

3: Droop pulses

4: Servo motor speed


0: Gain after switching is enabled with gain switching condition or more

1: Gain after switching is enabled with gain switching condition or less

Gain switching time constant disabling condition selection

0: Switching time constant enabled

1: Switching time constant disabled

2: Return time constant disabled

(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or

"Servo motor speed" in the gain switching selection of [Pr. PB26 Gain switching function].

The setting unit is as follows.


Command frequency

Droop pulses

Servo motor speed

Unit

[kpulse/s]

[pulse]

[r/min]

(c) [Pr. PB28 Gain switching time constant]

You can set the primary delay filter to each gain at gain switching. Use this parameter to suppress shock given to the machine if the gain difference is large at gain switching, for example.

7 - 16


(2) Switchable gain parameter

Loop gain


Model loop gain

Position loop gain

Speed loop gain



Used to set the value of the after-changing vibration suppression control vibration frequency setting.

Vibration suppression control 1 - Resonance frequency

Vibration suppression control 1 - Vibration frequency damping

Vibration suppression control 1 - Resonance frequency damping

Vibration suppression control 2 - Vibration frequency

Vibration suppression control 2 - Resonance frequency


Vibration suppression control 2 - Resonance frequency damping

Before switching

Parameter Symbol

PB06

PB07

PB08

PB09

PB10

PB19

PB20

PB21

PB22

PB52

PB53

PB54

PB55

PG1

PG2

VG2

VIC

Name


Model loop gain

Position loop gain

Speed loop gain


VRF11 Vibration suppression control 1

Used to set the value of the after-changing vibration suppression control vibration frequency setting.

VRF12 Vibration suppression control 1 - Resonance frequency

VRF13 Vibration suppression control 1 - Vibration frequency damping

VRF14 Vibration suppression control 1 - Resonance frequency damping

VRF21 Vibration suppression control 2 - Vibration frequency




PB29

After switching


GD2B Load to motor inertia ratio after gain switching

PB60

PB30

PG1B Gain switching

Model loop gain

PG2B Position loop gain after gain switching

PB31

PB32

PB33


VICB Gain switching


VRF11B Vibration suppression control 1 - Vibration frequency after gain switching

PB34

PB35

PB36

PB56

PB57

PB58

PB59

VRF12B Vibration suppression control 1 - Resonance frequency after gain switching

VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching

VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching





(a) [Pr. PB06] to [Pr. PB10]

These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio, position loop gain, model loop gain, speed loop gain, and speed integral compensation to be switched.

(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]

These parameters are the same as in ordinary manual adjustment. You can switch the vibration frequency, resonance frequency, vibration frequency damping, and resonance frequency damping by switching gain during motor stop.

7 - 17


(c) [Pr. PB29 Load to motor inertia ratio after gain switching]

Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia ratio].

(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching], and [Pr. PB32 Speed integral compensation after gain switching]

Set the values of after switching position loop gain, speed loop gain and speed integral compensation.

(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr.

PB59])/[Pr. PB60 Model loop gain after gain switching]

The vibration suppression control after gain switching and model loop gain after gain switching are used only with the control command from the controller, or with input device (CDP) on/off.

You can switch the vibration frequency, resonance frequency, vibration frequency damping, resonance frequency damping, and model loop gain of the vibration suppression control 1 and vibration suppression control 2.

7.2.4 Gain switching procedure

This operation will be described by way of setting examples.

(1) When choosing to switch by control command from the controller, or input device (CDP)

(a) Setting

Parameter Symbol Name Setting value

PB21

PB22

PB52

PB53

PB54

PB55

PB29

PB60

PB30

PB31

PB32

PB26

PB06

PB07

PB08

PB09

PB10

PB19

PB20


PG1 Model loop gain


VG2 Speed loop gain











PG1B Model loop gain after gain switching





4.00

100

120

3000

20

50

50

0.20

0.20

20

20

0.10

0.10

10.00

50

84

4000

50

0001

(Switched by the control command from the controller, or input device (CDP) on/off.)

Unit

[Multiplier]

[rad/s]

[rad/s]

[rad/s]

[ms]

[Hz]

[Hz]

[Hz]

[Hz]

[Multiplier]

[rad/s]

[rad/s]

[rad/s]

[ms]

7 - 18


Parameter

PB28

PB33

PB34

PB35

PB36

PB56

PB57

PB58

PB59

Symbol


Name









(b) Switching timing chart

Control command from controller

OFF

ON

After-switching gain

Setting value

100

60

60

0.15

0.15

30

30

0.05

0.05

OFF

Unit

[ms]

[Hz]

[Hz]

[Hz]

[Hz]

Gain switching

Model loop gain


Position loop gain

Speed loop gain




Resonance frequency






Resonance frequency




100

4.00

120

3000

20

50

50

0.20

0.20

20

20

0.10

0.10

Before-switching gain

→

→

→

→

→

→

→

→

→

→

→

→

→

63.4%

CDT = 100 ms

50

10.00

84

4000

50

60

60

0.15

0.15

30

30

0.05

0.05

→

→

→

→

→

→

→

→

→

→

→

→

→

100

4.00

120

3000

20

50

50

0.20

0.20

20

20

0.10

0.10

7 - 19


(2) When you choose switching by droop pulses

The vibration suppression control after gain switching and model loop gain after gain switching cannot be used.

(a) Setting

Parameter Symbol Name Setting value Unit

PB06

PB08

PB09

PB10

PB29

PB30

PB31

PB32

PB26



VG2 Speed loop gain







4.00

120

3000

20

10.00

84

4000

50

[Multiplier]

[rad/s]

[rad/s]

[ms]

[Multiplier]

[rad/s]

[rad/s]

[ms]

PB27

PB28

CDL Gain switching condition


0003

(switching by droop pulses)

50

100

[pulse]

[ms]

(b) Switching timing chart

Command pulses Droop pulses

Command pulses

Droop pulses

[pulse]

0

+CDL

-CDL


Gain switching


Position loop gain

Speed loop gain



4.00

120

→

→

3000 →

20 →

63.4%

CDT = 100 ms

10.00

84

4000

50

→

→

→

→

4.00

120

3000

20

→

→

→

→

10.00

84

4000

50

7 - 20


(3) When the gain switching time constant is disabled

(a) Switching time constant disabled was selected.

The gain switching time constant is disabled. The time constant is enabled at gain return.

The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.

PB28 (CDT)] = 100 [ms].

Command pulses

Droop pulses

Droop pulses [pulse]

+100 pulses

0

-100 pulses

Gain switching

Switching time constant disabled

Switching at 0 ms


63.4%


Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)

CDT = 100 ms


Switching at 0 ms

(b) Return time constant disabled was selected.

The gain switching time constant is enabled. The time constant is disabled at gain return.

The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28

(CDT)] = 100 [ms].

CDP (Gain switching)

OFF

ON

OFF

After-switching gain Return time constant disabled

Switching at 0 ms

Gain switching

63.4%


CDT = 100 ms

Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)

7 - 21


7.3 Tough drive function

POINT

Set enable/disable of the tough drive function with [Pr. PA20 Tough drive setting]. (Refer to section 5.2.1.)

This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive functions are the vibration tough drive and the instantaneous power failure tough drive.

7.3.1 Vibration tough drive function

This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to varied vibration frequency caused by machine aging.

To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.

Set [Pr. PB13] and [Pr. PB15] as follows.

(1) One-touch tuning execution (section 6.2)

(2) Manual setting (section 5.2.2)

The vibration tough drive function operates when a detected machine resonance frequency is within ±30% for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance suppression filter 2].

To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation detection level].

POINT

Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is performed constantly. However, the number of write times to the EEPROM is limited to once per hour.

The vibration tough drive function does not reset [Pr. PB46 Machine resonance suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr.

PB50 Machine resonance suppression filter 5].

The vibration tough drive function does not detect a vibration of 100 Hz or less.

7 - 22


The following shows the function block diagram of the vibration tough drive function.

The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a parameter whose set value is closer.

Filter Setting parameter Precaution

Parameter that is reset with vibration tough drive function


PB01/PB13/PB14

PB15/PB16

The filter can be set automatically with

"Filter tuning mode selection" in [Pr.

PB01].

PB13

PB15 Machine resonance suppression filter 2



PB46/PB47

PB48/PB49


PB50/PB51

Enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter.

Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation.

The shaft resonance suppression filter is enabled for the initial setting.

Enabling the robust filter disables the machine resonance suppression filter 5.

The robust filter is disabled for the initial setting.

Updates the parameter whose setting is the

Vibration tough drive

Command pulse train

Command filter

+

-

Torque

ALM

(Malfunction)

WNG

(Warning)

MTTR

(During tough drive)

ON

OFF

ON

OFF

ON

OFF

[Pr. PB13]


[Pr. PB15]


[Pr. PB46]


[Pr. PB49]

[Pr. PB48]


[Pr. PB17]


[Pr. PE41]

[Pr. PB50]


Robust filter

Load

PWM M

Servo motor

Encoder

[Pr. PF23 Vibration tough drive - Oscillation detection level]

5 s

Detects the machine resonance and reconfigures the filter automatically.

During tough drive (MTTR) is not turned on in the vibration tough drive function.

7 - 23


7.3.2 Instantaneous power failure tough drive function

The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the function will increase the tolerance against instantaneous power failure using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL. 10

Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the power] detection time for the power supply can be changed by [Pr. PF25 Instantaneous power failure tough drive - detection time]. In addition, [AL. 10.2

Bus voltage drop] detection level for the bus voltage is changed automatically.

POINT

MBR (Electromagnetic brake interlock) will not turn off during the instantaneous power failure tough drive.

Selecting "Enabled (_ _ _ 1)" for "Torque limit function selection at instantaneous power failure" in [Pr. PA26] will limit torques to save electric energy when an instantaneous power failure occurs during operation and will make [AL. 10 Undervoltage] less likely to occur.

When the load of instantaneous power failure is large, [AL. 10.2] caused by the bus voltage drop may occur regardless of the set value of [Pr. PF25

Instantaneous power failure tough drive - Detection time].

(1) Instantaneous power failure time > [Pr. PF25 Instantaneous power failure tough drive - detection time]

The alarm occurs when the instantaneous power failure time exceeds [Pr. PF25 Instantaneous power failure tough drive - detection time].

MTTR (During tough drive) turns on after the instantaneous power failure is detected.

MBR (Electromagnetic brake interlock) turns off when the alarm occurs.

Instantaneous power failure time

Power supply

ON

OFF

[Pr. PF25]

Bus voltage

Undervoltage level

(158 V DC)

ALM

(Malfunction)

ON

OFF

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

7 - 24


(2) Instantaneous power failure time < [Pr. PF25 Instantaneous power failure tough drive - detection time]

Operation status differs depending on how bus voltage decrease.

(a) When the bus voltage decreases lower than 158 V DC within the instantaneous power failure time

[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than 158 V DC regardless of the enabled instantaneous power failure tough drive.


Power supply

ON

OFF

[Pr. PF25]

Bus voltage

Undervoltage level

(158 V DC)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

7 - 25


(b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power failure time

The operation continues without alarming.


Power supply

ON

OFF

[Pr. PF25]

Bus voltage

Undervoltage level

(158 V DC)

ALM

(Malfunction)

WNG

(Warning)

MTTR


MBR


Base circuit

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

7 - 26


7.4 Model adaptive control disabled

POINT

Change the parameters while the servo motor stops.

When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operation status of the servo motor.

(1) Summary

The servo amplifier has a model adaptive control. The servo amplifier has a virtual motor model and drives the servo motor following the output of the motor model in the model adaptive control. At model adaptive control disabled, the servo amplifier drives the motor with PID control without using the model adaptive control.

The following shows the available parameters at model adaptive control disabled.


PB08

PB09

PB10

PG2

VG2

VIC

Position loop gain

Speed loop gain


(2) Parameter setting

Set [Pr. PB25] to "_ _ _ 2".

(3) Restrictions

The following functions are not available at model adaptive control disabled.

Function Explanation

Forced stop deceleration function

([Pr. PA04])

Disabling the model adaptive control while the forced stop deceleration function is enabled, [AL. 37] will occur.

The forced stop deceleration function is enabled at factory setting. Set [Pr. PA04] to "0 _ _ _" (Forced stop deceleration function disabled).


([Pr. PB02]/[Pr. PB19]/[Pr. PB20])


([Pr. PB02]/[Pr. PB52]/[Pr. PB53])

The vibration suppression control uses the model adaptive control. Disabling the model adaptive control will also disable the vibration suppression control.


([Pr. PB12])

The overshoot amount compensation uses data used by the model adaptive control. Disabling the model adaptive control will also disable the overshoot amount compensation.

7 - 27


7.5 Lost motion compensation function

POINT

The lost motion compensation function is enabled only in the position control mode.

The lost motion compensation function corrects response delays (caused by a non-sensitive band due to friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting.

This function is effective when a high follow-up performance is required such as drawing an arc with an X-Y table.

Compensation

Travel direction

The locus before compensation The locus after compensation

(1) Parameter setting

Setting [Pr. PE44] to [Pr. PE50] enables the lost motion compensation function.

(a) Lost motion compensation function selection ([Pr. PE48])

Select the lost motion compensation function.

0

[Pr. PE48]

0

Lost motion compensation selection

0: Lost motion compensation disabled

1: Lost motion compensation enabled

Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit

1: 1 kpulse unit

(b) Lost motion compensation ([Pr. PE44]/[Pr. PE45])

Set the same value for the lost motion compensation for each of when the forward rotation switches to the reverse rotation and when the reverse rotation switches to the forward rotation. When the heights of protrusions differ depending on the travel direction, set the different compensation for each travel direction. Set a value twice the usual friction torque and adjust the value while checking protrusions.

(c) Torque offset ([Pr. PE47])

For a vertical axis, unbalanced torque occurs due to the gravity. Although setting the torque offset is usually unnecessary, setting unbalanced torque of a machine as a torque offset cancels the unbalanced torque. The torque offset does not need to be set for a machine not generating unbalanced torque.

7 - 28


(d) Lost motion compensation timing ([Pr. PE49])

You can set the delay time of the lost motion compensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.

(e) Lost motion compensation non-sensitive band ([Pr. PE50])

When the travel direction reverses frequently around the zero speed, unnecessary lost motion compensation is triggered by the travel direction switching. By setting the lost motion compensation non-sensitive band, the speed is recognized as 0 when the fluctuation of the droop pulses is the setting value or less. This prevents unnecessary lost motion compensation.

When the value of this parameter is changed, the compensation timing is changed. Adjust the value of Lost motion compensation timing ([Pr. PE49]).

(f) Lost motion filter setting ([Pr. PE46])

Changing the value of this parameter is usually unnecessary. When a value other than 0.0 ms is set in this parameter, the high-pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues.

(2) Adjustment procedure of the lost motion compensation function

(a) Measuring the load current

Measure the load currents during the forward direction feed and reverse direction feed with MR

Configurator2.

(b) Setting the lost motion compensation

Calculate the friction torque from the measurement result of (2) (a) in this section and set a value twice the friction torque in [Pr. PE44] and [Pr. PE45] as lost motion compensation.

Friction torque [%] =

|(load current during feed in the forward rotation direction [%]) -

(load current during feed in the reverse rotation direction [%])|

2

(c) Checking protrusions

Drive the servo motor and check that the protrusions are corrected.

7 - 29


(d) Adjusting the lost motion compensation

When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are eliminated. Different values can be set as the compensation for each of when the forward rotation

(CCW) switches to the reverse rotation (CW) and when the reverse rotation (CW) switches to the forward rotation (CCW).

Compensation

Travel direction

The locus before compensation The locus after compensation

(e) Adjusting the lost motion compensation timing

When the machine has low rigidity, the speed loop gain is set lower than the standard setting value, or the servo motor is rotating at high speed, quadrant projections may occur behind the quadrant change points. In this case, you can suppress the quadrant projections by delaying the lost motion compensation timing with [Pr. PE49 Lost motion compensation timing]. Increase the setting value of

[Pr. PE49] from 0 ms (initial value) by approximately 0.5 ms to adjust the compensation timing.

Compensation

Travel direction

Before timing delay compensation After timing delay compensation

(f) Adjusting the lost motion compensation non-sensitive band

When the lost motion is compensated twice around a quadrant change point, set [Pr. PE50 Lost motion compensation non-sensitive band]. Increase the setting value so that the lost motion is not compensated twice. Setting [Pr. PE50] may change the compensation timing. Adjust the lost motion compensation timing of (2) (e) in this section.

Compensation

Travel direction

Before timing delay compensation After timing delay compensation

7 - 30

8. TROUBLESHOOTING

8. TROUBLESHOOTING

POINT

Refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings.

As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power.

[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.

When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm or warning is displayed, refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM (Malfunction) will turn off.

8.1 Explanation for the lists

(1) No./Name/Detail No./Detail name

Indicates the No./name/detail No./detail name of alarms or warnings.

(2) Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or

"EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.

(3) Alarm deactivation

After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated by alarm reset or power cycling.

Alarm deactivation Explanation

Alarm reset

Power cycling

1. Turn on RES (Reset) with an input device.

2. Error reset command from the controller

3. Click the "Occurred Alarm Reset" in the "Alarm Display" window of MR

Configurator2.

Turn off the power, check that the 3-digit, 7-segment LED display is off, and then turn on the power.

(4) Alarm code

To output alarm codes, set [Pr. PD39] to "_ _ _ 1". Alarm codes are outputted by turning on/off bit 0 to bit

2. Warnings ([AL. 90] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be outputted when they occur. The alarm codes will not be outputted in normal condition.

8 - 1

8. TROUBLESHOOTING

8.2 Alarm list

No. Name

Detail

No.

Detail name

14

13

10

11

Undervoltage

Switch setting error

12 Memory error 1 (RAM)

15

Clock error

Control process error

Memory error 2

(EEP-ROM)

10.1 Voltage drop in the power

10.2 Bus voltage drop

11.1 Rotary switch setting error

12.1 RAM error 1

12.2 RAM error 2

12.3 RAM error 3

12.4 RAM error 4

12.5 RAM error 5

12.6 RAM error 6

13.1 Clock error 1

13.2 Clock error 2

13.3 Clock error 3

14.1 Control process error 1









14.A Control process error 10

14.C Control process error 12

14.D Control process error 13

15.1 EEP-ROM error at power on

15.2 EEP-ROM error during operation

15.4 Home position information read error

Stop method

(Note 2,

3)

EDB

SD

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

Alarm deactivation

Alarm reset

CPU reset

Power cycling

Alarm code

(Note 5)

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

0

1

0

0

0

0

1

1

0

0

0

0

0

0

0

0

0

0

DB

DB

DB

DB

DB

DB

16

Encoder initial communication error 1

1 1 0

DB

DB

DB

DB

DB

17 Board error

17.1 Board error 1

17.3 Board error 2

17.4 Board error 3

17.5 Board error 4

17.6 Board error 5

17.7 Board error 7

DB

DB

DB

DB

DB

DB

DB

0 0 0

8 - 2

8. TROUBLESHOOTING

No.

19

1A

1E

1F

20

Name

Memory error 3

(Flash-ROM)

Servo motor combination error

19.1 Flash-ROM error 1




1A.1 Servo motor combination error 1

1A.4 Servo motor combination error 2

Encoder initial communication error 2 1E.1 Encoder malfunction

Encoder initial communication error 3 1F.1 Incompatible encoder

Encoder normal communication error 1

Detail

No.

Detail name

21

Encoder normal communication error 2

21.1 Encoder data error 1

21.2 Encoder data update error

21.3 Encoder data waveform error

21.5 Encoder hardware error 1

21.6 Encoder hardware error 2

21.9 Encoder data error 2

24 Main circuit error

25

30

31

32

Absolute position erased

Overspeed

Regenerative error

Overcurrent

30.1 Regeneration heat error

30.2 Regeneration signal error

31.1 Abnormal motor speed

32.2

Overcurrent detected at software detection function (during operation)

33 Overvoltage

34

SSCNET receive error

1

35

Command frequency error

33.1 Main circuit voltage error

34.1 SSCNET receive data error

34.4 Hardware error signal detection

35.1 Command frequency error

Stop method

(Note 2,

3)

DB

DB

DB

DB

DB

DB

DB

Alarm deactivation

Alarm reset

CPU reset

Power cycling

Alarm code

(Note 5)

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

0

1

0

1

0

0

1 1 0

DB 1 1 0

EDB

EDB

EDB

EDB

1

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

DB

1

1

DB

DB

SD

DB

DB

DB

DB


(Note 1) (Note 1) (Note 1) 0


1

1

1

0

0

0

0

0

0

1

1

DB

DB

DB

EDB

SD

SD

SD

SD

SD

(Note 4)

1

0

1

0

0

0

0

1

1

8 - 3

8. TROUBLESHOOTING

51

52

54

56

61

No.

36

37

39

Name

SSCNET receive error

2

Parameter error

Program error

Detail

No.

Detail name

37.1 Parameter setting range error

37.2 Parameter combination error

37.3 Point table setting error

39.1 Program error

39.2 Instruction argument external error

39.3 Register No. error

Stop method

(Note 2,

3)

Alarm deactivation

Alarm reset

CPU reset

Power cycling

Alarm code

(Note 5)

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

SD

DB

DB

DB

DB

DB

DB

DB

0

0

0

0

0

0

3A

Inrush current suppression circuit error

3E Operation mode error

45

Main circuit device overheat

EDB 0 0

0

1

0

0

1

46

47

50

Servo motor overheat

Cooling fan error

Overload 1

Overload 2

Error excessive

Oscillation detection

Forced stop error

Operation error

3E.1 Operation mode error

3E.6 Operation mode switch error

45.1 Main circuit device overheat error 1 SD

47.2 Cooling fan speed reduction error

52.1 Excess droop pulse 1



54.1 Oscillation detection error

56.2 Over speed during forced stop

DB

DB

SD

DB

DB

SD

SD

SD

SD

SD

SD

SD

DB

DB

SD

SD

SD

EDB

EDB

EDB

(Note 1) (Note 1) (Note 1) 0

0




0

0









0

0

1

0

1

61.1 Point table setting range error

EDB

DB

SD

1

1

1

1

1

0

1

1

0

1

1

1

1

1

1

1

0

SD

69 Command error 1 0 1

SD

86

Network communication error

86.1 Network communication error 1



SD

SD

SD

SD

0 0 0

8 - 4

8. TROUBLESHOOTING

No. Name

Detail

No.

Detail name

Stop method

(Note 2,

3)

Alarm deactivation

Alarm reset

CPU reset

Power cycling

Alarm code

(Note 5)

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

8A

USB communication time-out error/serial communication timeout error/Modbus RTU communication timeout error

8A.1

USB communication time-out error/serial communication timeout error

SD

SD

SD

SD

0 0 0

SD

8C

Network module communication error

SD 0 0 0

SD

SD

SD

8E

USB communication error/serial communication error/Modbus RTU communication error

8E.1

8E.2

8E.3

8E.4

8E.5

USB communication receive error/serial communication receive error

USB communication checksum error/serial communication checksum error

USB communication character error/serial communication character error

USB communication command error/serial communication command error

USB communication data number error/serial communication data number error

SD

SD

SD

SD

SD

0 0 0

SD

SD

SD

888/

88888

Watchdog

88._/

8888._ Watchdog

DB

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

2. The following shows three stop methods of DB, EDB, and SD.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.)

EDB: Electronic dynamic brake stop (available with specified servo motors)

Refer to the following table for the specified servo motors. The stop method for other than the specified servo motors is DB.

For MR-JE_A, setting [Pr. PF09] to "(_ _ _ 3)" enables the electronic dynamic brake.

Series

HG-KN

HG-SN

Servo motor

HG-KN053/HG-KN13/HG-KN23/HG-KN43

HG-SN52

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop method of SD can be changed to DB using

[Pr. PA04].

4. In some controller communication status, the alarm factor may not be removed.

5. Alarm codes are outputted from the MR-JE-_A or MR-JE-_C. Refer to section 1.1 for details.

8 - 5

8. TROUBLESHOOTING

8.3 Warning list

No. Name

Detail

No.

Detail name

90

91

92

Home position return incomplete warning

Servo amplifier overheat warning

(Note 1)

Battery cable disconnection warning

90.1 Home position return incomplete

90.5 Z-phase unpassed

92.3 Battery degradation

96

Home position setting warning

97

Positioning specification warning

98 Software limit warning

99

9B

9F

Stroke limit warning

Error excessive warning

Battery warning

97.2 Next station position warning

99.1 Forward rotation stroke end off

99.2 Reverse rotation stroke end off

9B.1 Excess droop pulse 1 warning

9B.3 Excess droop pulse 2 warning

9F.1 Low battery

E0.1 Excessive regeneration warning

E1 Overload warning 1

E3

Absolute position counter warning

E3.2 Absolute position counter warning

E4

E6

E7

Parameter warning

Servo forced stop warning

Controller forced stop warning

E6.1 Forced stop warning

E7.1 Controller forced stop input warning

(Note 4)

(Note 4)

Stop method

(Note 2,

3)

SD

SD

8 - 6

8. TROUBLESHOOTING

F4

F5

F2

F3

No.

E8

E9 Main circuit off warning

EC

ED

F0

Name

Cooling fan speed reduction warning

Overload warning 2

Output watt excess warning

Tough drive warning

Drive recorder -

Miswriting warning

Oscillation detection warning

Positioning warning

Detail

No.

Detail name

EC.1 Overload warning 2

ED.1 Output watt excess warning

F0.3 Vibration tough drive warning

F3.1 Oscillation detection warning

Simple cam function -

Cam data miswriting warning

F5.2 Cam data - Area miswriting warning

F5.3 Cam data checksum error

Stop method

(Note 2,

3)

DB

DB

DB

F6

Simple cam function -

Cam control warning F6.3 Cam unregistered error

F6.4 Cam control data setting range error

F6.5 Cam No. external error

F6.6 Cam control inactive

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

2. The following shows two stop methods of DB and SD.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.)

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop method of SD can be changed to DB using [Pr. PA04].

4. Quick stop or slow stop can be selected using [Pr. PD30] for the MR-JE-_A or using [Pr. PD35] for the MR-

JE-_C (except in the profile mode).

8 - 7

8. TROUBLESHOOTING

MEMO

8 - 8

9. DIMENSIONS

9. DIMENSIONS

9.1 Servo amplifier

(1) MR-JE-10C to MR-JE-40C

6

φ 6 mounting hole

With

MR-BAT6V1SET-A

50

Approx. 80 135

2.9

[Unit: mm]

CNP1

L1

L2

L3

P+

C

U

V

W

PE

Terminal

Screw size: M4

Tightening torque: 1.2 [N•m]

6

6

CNP1

PE

The built-in regenerative resistor (lead wire) is mounted only in MR-JE-40C.

Mounting screw

Screw size: M5

Mass: 0.8 [kg]


Approx. 6

Approx. 50

2-M5 screw

Mounting hole process drawing

9 - 1

9. DIMENSIONS

(2) MR-JE-70C/MR-JE-100C

[Unit: mm]

φ 6 mounting hole

22

70

With

MR-BAT6V1SET-A

Approx. 80 185

22 42

CNP1

PE

6

3.3

Mass: 1.5 [kg]

Mounting screw

Screw size: M5


Approx. 70

CNP1

L1

L2

L3

P+

C

U

V

W

PE

Terminal

Screw size: M4


3-M5 screw ox. 6 42 ± 0.3

Approx. 22 Approx. 6


9 - 2

9. DIMENSIONS

(3) MR-JE-200C/MR-JE-300C

[Unit: mm]

Lock knob

φ 6 mounting hole

CNP1

C

D

P+

L1

L2

L3

45

90

85

CNP2

U

V

W

C

5

N

3

N

6

N

1

2

C

C

N

N

4

6

6 78

Approx. 80

With MR-BAT6V1SET-A

Terminal

CNP1

L1

L2

L3

C

D

P+

CNP2

U

V

W

PE

Screw size: M4


195

Cooling fan air intake

6

Mass: 2.1 [kg]

Mounting screw

Screw size: M5


Approx. 90

3-M5 screw

Approx. 6 78 ± 0.3

Approx. 6


9 - 3

9. DIMENSIONS

9.2 Connector

(1) Miniature delta ribbon (MDR) system (3M)

(a) One-touch lock type

[Unit: mm]

E

A C

Logo, etc., are indicated here.

B

Connector

10120-3000PE

(b) Jack screw M2.6 type

This is not available as option.

12.7

Shell kit

10320-52F0-008

A

22.0

Each type of dimension

B C D

33.3 14.0 10.0

E

12.0

[Unit: mm]

E

A C F

Logo, etc., are indicated here.

Connector

10120-3000PE

B

Shell kit

10320-52F0-008

12.7

A

22.0

B

33.3

Each type of dimension

C D

14.0 10.0

E

12.0

F

27.4

9 - 4

9. DIMENSIONS

(2) SCR connector system (3M)

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

39.5

34.8

[Unit: mm]

9 - 5

9. DIMENSIONS

MEMO

9 - 6

10. CHARACTERISTICS

10. CHARACTERISTICS

10.1 Overload protection characteristics

An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads.

[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve shown in fig. 10.1. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken line in the graph.

For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or lower of the motor's rated torque.

This servo amplifier has servo motor overload protective function. (The servo motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)

1000 1000

Operating

100

Operating

100

Servo-lock

10

Servo-lock

10

1 1

0.1

0 50 100 150 200

(Note) Load ratio [%]

250 300 350

HG-KN13_

0.1

0 50 100 150 200


250 300 320

HG-KN23_/HG-KN43_/HG-KN73_/HG-SN52_/

HG-SN102_

10 - 1

10. CHARACTERISTICS

1000

Operating

100

10

1

Servo-lock

0.1

0 50 100 150 200


250 300 320

HG-SN152_/HG-SN202_/HG-SN302_

Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.

Fig. 10.1 Electronic thermal protection characteristics

10.2 Power supply capacity and generated loss

(1) Amount of heat generated by the servo amplifier

Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.

For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the servo motor is run at less than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.

Table 10.1 Power supply capacity and generated loss per servo motor at rated output

Servo amplifier

MR-JE-10C

MR-JE-20C

MR-JE-40C

MR-JE-70C

MR-JE-100C

MR-JE-200C

MR-JE-300C

Servo motor

HG-KN13_

HG-KN23_

HG-KN43_

HG-KN73_

HG-SN52_

HG-SN102_

HG-SN152_

HG-SN202_

HG-SN302_

(Note 1)

Power supply capacity [kVA]

1.0

1.7

2.5

3.5

4.8

0.3

0.5

0.9

1.3

(Note 2) Servo amplifiergenerated heat [W]

At rated output With servo-off

25

25

35

50

40

50

15

15

15

15

15

15

90

120

20

20

Area required for heat dissipation [m 2 ]

0.5

0.5

0.7

1.0

0.8

1.0

1.8

2.4

Note 1. The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power factor improving AC reactor is not used.

2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 11.2.

10 - 2

10. CHARACTERISTICS

(2) Heat dissipation area for an enclosed type cabinet

The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 °C at the ambient temperature of 40 °C.

Calculate the necessary cabinet dissipation area (allowing a margin of approximately 5 °C for the ambient temperature of 55 °C maximum) with equation (10.1).

A = K •

P

Δ T

················································································································· (10.1)

A

P

ΔT

K

: Heat dissipation area [m 2 ]

: Loss generated in the cabinet [W]

: Difference between internal and ambient temperatures [°C]

: Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with equation 10.1, assume that P is the sum of all losses generated in the cabinet. Refer to table 10.1 for heat generated by the servo amplifier. "A" indicates the effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra amount must be added to the cabinet's surface area. The required heat dissipation area will vary with the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a cooling fan should be considered. Table 10.1 lists the cabinet dissipation area for each servo amplifier

(guideline) when the servo amplifier is operated at the ambient temperature of 40 °C under rated load.

Fig. 10.2 Temperature distribution in an enclosed type cabinet

When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the temperature slope inside and outside the cabinet will be steeper.

10 - 3

10. CHARACTERISTICS

10.3 Dynamic brake characteristics

CAUTION

The coasting distance is a theoretically calculated value which ignores the running load such as friction. The calculated value will be longer than the actual distance. If the braking distance is not longer than the calculated value, a moving part may crash into the stroke end, which is very dangerous. Install the anti-crash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of moving parts.

POINT

Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency.

For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.

Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1

(Forced stop 1) frequently in other than emergency.

10 - 4

10. CHARACTERISTICS

10.3.1 Dynamic brake operation

(1) Calculation of coasting distance

Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ varies with the servo motor and machine operation speeds. (Refer to (2) in this section.)

A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a maximum coasting distance calculated with the following equation.

ON

EM1 (Forced stop 1)

OFF

Dynamic brake time constant τ

Machine speed

V

0 t e

Time

Fig. 10.3 Dynamic brake operation diagram

L max

= 60 • t e J

L

M

··························································································· (10.2)

L max

: Maximum coasting distance ······················································································ [mm]

V

0

: Machine's fast feed speed ····················································································· [mm/min]

J

M

: Moment of inertia of the servo motor ································································· [× 10 -4

J

L

: Load moment of inertia converted into equivalent value on servo motor shaft ·············· [× 10 -4

kg•m 2

kg•m 2

]

]

τ: Dynamic brake time constant ···························································································· [s] t e

: Delay time of control section ···························································································· [s]

There is internal relay delay time of about 10 ms.

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 10.2.

60

50 73

40

30

20

23

43

10

13

0

0 1000 2000 3000 4000 5000 6000

Speed [r/min]

200

180

160

140

120

100

80

60

40

20

0

102

202

52

302

152

0 500 1000 1500 2000 2500 3000

Speed [r/min]

HG-KN series HG-SN series

10 - 5

10. CHARACTERISTICS

10.3.2 Permissible load to motor inertia when the dynamic brake is used

Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor.

Servo motor

Permissible load to motor inertia ratio [multiplier]

HG-KN13_

HG-KN23_

HG-KN43_

HG-KN73_

HG-SN52_

HG-SN102_

HG-SN152_

HG-SN202_

HG-SN302_

30

24

16

10.4 Cable bending life

The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.

1 × 10 8

5 × 10 7 a

1 × 10 7

5 × 10 6 a: Long bending life encoder cable

Long bending life motor power cable

Long bending life electromagnetic brake cable

1 × 10 6

5 × 10 5 b: Standard encoder cable

Standard motor power cable

Standard electromagnetic brake cable

1 × 10 5

5 × 10 4

1 × 10 4

5 × 10 3 b

1 × 10 3

4 7 10 20 40

Bend radius [mm]

70 100 200

10 - 6

10. CHARACTERISTICS

10.5 Inrush current at power-on

POINT

For a servo amplifier of 400 W or less, the inrush current values can change depending on frequency of turning on/off the power and ambient temperature.

The following table indicates the inrush currents (reference data) that will flow when 240 V AC is applied.

Even when you use a 1-phase 200 V AC power supply with MR-JE-10C to MR-JE-200C, the inrush currents will be the same.

Servo amplifier Inrush currents (A

0-P

)

MR-JE-10C, MR-JE-20C,

MR-JE-40C

MR-JE-70C, MR-JE-100C


32 A

(attenuated to approx. 3 A in 20 ms)

36 A


102 A


Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and magnetic contactors. (Refer to section 11.7.)

When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used.

10 - 7

10. CHARACTERISTICS

MEMO

10 - 8

11. OPTIONS AND PERIPHERAL EQUIPMENT


WARNING

Before connecting options and peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION Use the specified peripheral equipment and options to prevent a malfunction or a fire.

POINT

We recommend using HIV wires to wire the servo amplifiers, options, and peripheral equipment. Therefore, the recommended wire sizes may differ from those used for the previous servo amplifiers.

11.1 Cable/connector sets

POINT

The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.

Please purchase the cable and connector options indicated in this section.

11 - 1


11.1.1 Combinations of cable/connector sets

8)

5)

4)

Operation panel

Battery

2) 3)

Controller

Controller

Controller

9)

10) Packed with the servo amplifier

Servo amplifier

CN4

CN3

CN5

CN1

CN6

CN2

CNP1

(Note)

6)

7) Battery unit

MR-BT6VCASE and

MR-BAT6V1 battery

Personal computer

Servo amplifier

CN4

CN5 CN3

CN1

CN6

CN2

CNP1

1) Packed with the servo amplifier

Refer to "HG-KN/HG-SN Servo Motor Instruction Manual" for options for servo motor power supply, electromagnetic brake, and encoder.

To 24 V DC power supply for electromagnetic brake Servo motor

Power connector

Brake connector

Encoder connector

Note. Connectors for 1 kW or less. Refer to section 3.3.3 (1) (b) for 2 kW or more.

11 - 2


No. Product name

1) Servo amplifier

CNP1 power connector

Model

MR-JECNP1-01

Description

CNP1 Connector: 09JFAT-SAXGDK-H5.0 (JST)

Applicable wire size: AWG 18 to 14

Insulator OD: to 3.9 mm

Application

Supplied with servo amplifiers of 1 kW or less

MR-JECNP1-02

Open tool: J-FAT-OT (N) or J-FAT-OT (JST)

CNP1 Connector: 06(7-4)JFAT-SAXGFK-XL (JST)



Supplied with servo amplifiers of 2 kW and 3 kW

Open tool: J-FAT-OT-EXL (JST)

Servo amplifier power connector

2) Connector set

3) Connector set

4) Junction terminal block

Cable

MR-JECNP2-02

MR-J2CMP2

MR-ECN1

MR-TBNATBL_M

Cable length:

0.5/1 m

(Refer to section

11.3.)

CNP2 Connector: 03JFAT-SAXGFK-XL (JST)



Connector: 10126-3000PE

Shell kit: 10326-52F0-008

(3M or equivalent)

Junction terminal block connector

Connector: 10126-6000EL

Shell kit: 10326-3210-000

(3M or equivalent)


Shell kit: 10326-52F0-008

(3M or equivalent)

Servo amplifier-side connector

Connector: 10126-6000EL

Shell kit: 10326-3210-000

(3M or equivalent)

5) Junction terminal block

6) USB cable

MR-TB26A

MR-J3USBCBL3M

Cable length: 3 m


CN5 connector mini-B connector (5-pins)

Personal computer connector

A connector

7) Battery cable

8) Junction battery cable

9) Ethernet cable

MR-BT6V1CBL_M

Cable length:

0.3/1 m

(Refer to section

11.1.2.)

Housing: PAP-02V-O

Contact: SPHD-001G-P0.5

(JST)


Shell kit: 10314-52F0-008

(3M or equivalent)

MR-BT6V2CBL_M

Cable length:

0.3/1 m

(Refer to section

11.1.2.)

Housing: PAP-02V-O


(JST)

(Refer to section

11.1.3.)

Housing: PALR-02VF-O

Contact: SPAL-001GU-P0.5

(JST)

Housing: PAP-02V-O


(JST)

Category 5e or higher, (STP) straight cable

The (STP) straight cable is not an option.

Quantity: 1

Quantity:

20

For junction terminal block connection

For connection with PC-AT compatible personal computer

For connection with battery unit

For battery junction

Connection cable for the CN1 connector

11 - 3


No. Product name Model

10) RS-485 communication connector

(Note)

Note. RS-485 connector for communication can be used only on Modbus RTU.

11.1.2 Battery cable/junction battery cable

Description

CN6 connector

DFMC 1,5/4-STF-3,5 2BDSLD QSO

(Phoenix Contact or equivalent product)

Application

Supplied with servo amplifier

(1) Model explanations

The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available.

Cable model

Cable length

0.3 m 1 m

Bending life Application/remark

MR-BT6V1CBL_M

MR-BT6V2CBL_M

03

03

1

1

Standard

For connection with MR-

BT6VCASE

Standard For junction

(2) MR-BT6V1CBL_M

(a) Appearance

2) 1)

3)

Components

1) Cable

2) Connector

3) Connector

Description

VSVC 7/0.18 × 2C

Housing: PAP-02V-O

Contact: SPHD-001G-P0.5 (JST)


Shell kit: 10314-52F0-008 (3M or equivalent)

(b) Internal wiring diagram

2) 1) 3)

BT

LG

1

2

White

Black

7

14

Plate

BT

LG

SD

(3) MR-BT6V2CBL_M

(a) Appearance

4)

2)

5)

1)

3)

Components

1) Cable

Description

2) Cable

5) Connector

VSVC 7/0.18 × 2C

3) Connector Housing: PAP-02V-O

4) Connector Contact: SPHD-001G-P0.5 (JST)

Housing: PALR-02VF-O

Contact: SPAL-001GU-P0.5 (JST)

11 - 4


(b) Internal wiring diagram

4) 1) 3)

BT

LG

1

2

White

Black

White

Black

1 BT

2 LG

1 BT

2 LG

2) 5)

11.1.3 Ethernet cable

For the wiring of CC-Link IE Field Network Basic and Modbus/TCP, use a cable which meets the following standards.

Item Description

Cable type

Standard

Connector

Category 5e or higher, (STP) straight cable

One of the following standards must be met.

IEEE802.3 1000BASE-T

ANSI/TIA/EIA-568-B (Higher than Category 5e)

RJ-45 connector with shield

11.2 Regenerative option

CAUTION Do not use servo amplifiers with regenerative options other than the combinations specified below. Otherwise, it may cause a fire.

11.2.1 Combination and regenerative power

The power values in the table are resistor-generated powers and not rated powers.

Regenerative power [W]

Servo amplifier


MR-RB032

[40 Ω]

MR-RB12

[40 Ω]

MR-RB30

[13 Ω]

MR-JE-10C

MR-JE-20C

MR-JE-40C

MR-JE-70C

MR-JE-100C

MR-JE-200C

MR-JE-300C

10

20

20

100

100

30

30

30

30

30

100

100

100

100

300

300

Note. Always install a cooling fan.

MR-RB32

[40 Ω]

300

300

(Note)

MR-RB50

[13 Ω]

500

500

11 - 5


11.2.2 Selection of regenerative option

A regenerative option for a horizontal axis can be selected with the rough calculation shown in this section.

To select a regenerative option precisely, use the capacity selection software.

(1) Rotary servo motor

(a) Regenerative energy calculation

Servo motor

N

V

W

L

F

C

Feed speed of moving part

V

2)

1) 3)

Forward rotation

4) 8)

Time

Moving part 5)

Reverse rotation

7)

6)

V: Feed speed of moving part

N: Servo motor speed (N = V/ΔS)

ΔS: Travel distance per servo motor revolution (ΔS = P

B

)

P

B

: Ball screw lead

L

B

: Ball screw length

D

B

: Ball screw diameter

W

L

: Moving part mass

F

C

: Load antidrag setting

T

L

: Load torque converted into equivalent value on servo motor shaft [N•m]

η: Drive system efficiency

µ: Friction coefficient

J

L

: Load moment of inertia converted into equivalent value on servo motor shaft

J

M

: Moment of inertia of the servo motor

π: Pi constant g: Gravitational acceleration

[mm/min]

[r/min]

[mm/rev]

[mm]

[mm]

[mm]

[kg]

[N]

[N•m]

[kg•cm

[kg•cm

[m/s

2

2

2

]

]

] t psa1 t

1 t psd1 t

2 t psa2 t

3 t psd2 t

4

11 - 6


Formulas for calculating torque and energy in operation

Regenerative power

1)

Torque applied to servo motor [N•m]

(Note 1, 2)

T

1

(J

L

/ η + J

M

) • N

4

•

1 t psa1

+ T

L

Energy E [J]

E

1

=

0.1047

2

• N • T

1

• t psa1

2)

3)

4), 8)

5)

T

2

= T

L

T

3

=

-(J

L

• η + J

M

) • N

9.55 • 10 4

•

1 t psd1

+ T

L

T

4

, T

8

= 0

T

5

=

(J

L

/ η + J

M

) • N

9.55 • 10 4

•

1 t psa2

+ T

L

E

2

= 0.1047 • N • T

2

• t

1

E

3

=

0.1047

2

• N • T

3

• t psd1

E

4

, E

8

= 0 (No regeneration)

E

5

=

0.1047

2

• N • T

5

• t psa2

6)

7)

T

6

= T

L

T

7

=

-(J

L

• η + J

M

) • N

9.55 • 10 4

•

1 t psd2

+ T

L

E

6

= 0.1047 • N • T

6

• t

3

E

7

=

0.1047

2

• N • T

7

• t psd2

Note 1. Load torque converted into equivalent value on servo motor shaft T

L

can be calculated with the following expression.

T

L

= {(F

C

+ (µ × W

L

× g)) × ΔS}/(2000 × π × η)

2. Load moment of inertia converted into equivalent value on servo motor shaft J

L

can be calculated with the following expression.

J

L

= J

L1

+ J

L2

+ J

L3

J

L1

is the load moment of inertia of the moving part, J

L2

is the load moment of inertia of the ball screw, and J

L3

is the load moment of inertia of the coupling. J

L1

and J

L2

can be calculated with the following expressions.

J

L1

= W

L

× (ΔS/(20 × π)) 2

J

L2

= {(π × 0.0078 × (L

B

/10))/32} × (D

B

/10) 4

From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.

(2) Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.

Servo amplifier

Inverse efficiency [%]

Capacitor charging [J]

Servo amplifier

Inverse efficiency [%]

Capacitor charging [J]

MR-JE-10C

MR-JE-20C

MR-JE-40C

MR-JE-70C

55

75

85

85

11

11

14

25

MR-JE-100C

MR-JE-200C

MR-JE-300C

85

85

85

25

42

42

Inverse efficiency (η m

): Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Efficiency varies with the speed and generated torque. Since the characteristics of the electrolytic capacitor change with time, allow for approximately 10% higher inverse efficiency.

Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier

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 option.

ER [J] = η m

• Es - Ec

11 - 7


Select a necessary regenerative option by calculating the power consumption of the regenerative option on the basis of one-cycle operation period tf [s].

PR [W] = ER/tf


Set [Pr. PA02] according to the option to be used.

[Pr. PA02]

0 0

Regenerative option selection

00: Regenerative option is not used.

For servo amplifier of 200 W or less, regenerative resistor is not used.

For servo amplifier of 0.4 kW to 3 kW, built-in regenerative resistor is used.

02: MR-RB032

03: MR-RB12

04: MR-RB32

05: MR-RB30 (Note)

06: MR-RB50 (Cooling fan is required.) (Note)

Note. This is used with servo amplifiers with software version A3 or later.

11.2.4 Connection of regenerative option

POINT

When you use a regenerative option with an MR-JE-40C to MR-JE-100C, remove the built-in regenerative resistor and wiring from the servo amplifier.

When MR-RB50 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer.

For the wire sizes used for wiring, refer to section 11.6.

A built-in regenerative resistor should not be mounted/removed frequently.

When you remount a built-in regenerative resistor, check the lead wires of the built-in regenerative resistor for scratches or cracks.

The regenerative option generates heat of 100 °C higher than the ambient temperature. Fully consider heat dissipation, installation position, wires used, etc. before installing the option. For wiring, use flame-resistant wires or make the wires flame-resistant and keep them away from the regenerative option. Use twisted wires with a maximum length of 5 m for a connection with the servo amplifier.

11 - 8



When you use a regenerative option for MR-JE-40C to MR-JE-100C, remove wirings of P+ and C, remove the built-in regenerative resistor, and then connect the regenerative option between P+ and C.

G3 and G4 are terminals for thermal sensor. Between G3 and G4 is opened when the regenerative option overheats abnormally.

Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor.

Servo amplifier Regenerative option

P+

P

C

G3

(Note 2)

G4

5 m or less

(Note 3)

Cooling fan

Note 1. The built-in regenerative resistor is not provided for MR-JE-10C and MR-JE-20C.

2. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs.

G3-G4 contact specifications

Maximum voltage: 120 V AC/DC

Maximum current: 0.5 A/4.8 V DC

Maximum capacity: 2.4 VA

3. When the ambient temperature is more than 55 °C and the regenerative load ratio is more than 60% in MR-RB32, forcefully cool the air with a cooling fan (1.0 m 3 /min or more, 92 mm × 92 mm). A cooling fan is not required if the ambient temperature is 35 °C or less. (A cooling fan is required for the shaded area in the following graph.)

A cooling fan is required.

100

60

A cooling fan is not required.

0

0 35

Ambient temperature [°C]

55

11 - 9


To remove the built-in regenerative resistor mounted on the back of MR-JE-40C to MR-JE-100C, follow the procedures 1) to 3) with referring to the illustration.

1) Disconnect the wirings of the built-in regenerative resistor from the power connector (CNP1).

(Refer to (3) (b) of 3.3.2.)

2) Remove the wirings of the built-in regenerative resistor from the closest position to the power connector (CNP1) in order. Please pay full attention not to break the wirings.

3) Remove the screw fixing the built-in regenerative resistor and dismount the built-in regenerative resistor.

1)

Note. Screw size: M3


2)

(Note)

3)

11 - 10



Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and

G4 are terminals for thermal sensor. Between G3 and G4 is opened when the regenerative option overheats abnormally.

Always remove the lead from across P+ to D.

Servo amplifier Regenerative option

P+

P

C

C

D

G3

(Note 3)

G4

5 m or less

(Note 1, 2)

Cooling fan

Note 1. When using the MR-RB50, forcibly cool it with a cooling fan (1.0 m 3 /min or more,

92 mm × 92 mm).

2. When the ambient temperature is more than 55 °C and the regenerative load ratio is more than 60% in MR-RB30, forcefully cool the air with a cooling fan (1.0 m 3 /min or more, 92 mm × 92 mm). A cooling fan is not required if the ambient temperature is 35 °C or less. (A cooling fan is required for the shaded area in the following graph.)

A cooling fan is required.

100

60

A cooling fan is not required.

0

0 35

Ambient temperature [°C]

55

3. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs.

G3-G4 contact specifications

Maximum voltage: 120 V AC/DC

Maximum current: 0.5 A/4.8 V DC

Maximum capacity: 2.4 VA

11 - 11


11.2.5 Dimensions

(1) MR-RB12

[Unit: mm]

TE1 terminal

15

40

36

φ 6 mounting hole

G3

G4

P

C

TE1

5

Applicable wire size: 0.2 mm 2 to 2.5 mm 2 (AWG 24 to

12)

Tightening torque: 0.5 to 0.6 [N•m]

Mounting screw

Screw size: M5


Mass: 1.1 [kg]

6

Approx. 20 149

169

2

(2) MR-RB30/MR-RB32

8.5 10

7

90

100

[Unit: mm]

Cooling fan mounting screw (2-M4 screw)

17

101.5

82.5

318

335

Air intake

Terminal

P

C

G3

G4

Screw size: M4


Mounting screw

Screw size: M6


Mass: 2.9 [kg]

11 - 12


(3) MR-RB50

[Unit: mm]

Cooling fan mounting screw (2-M3 screw)

On opposite side

49 82.5

7 × 14 slotted hole

Air intake

Terminal block

P

C

G3

G4

Screw size: M4


Mounting screw

Screw size: M6


Mass: 5.6 [kg]

2.3

200

217

(4) MR-RB032

15

30

φ 6 mounting hole

17

TE1

6

Approx. 20

5

12

7

108

120 8

Approx. 30

[Unit: mm]

TE1 terminal

G3

G4

P

C

Applicable wire size: 0.2 mm 2 to 2.5 mm 2 (AWG 24 to

12)

Tightening torque: 0.5 to 0.6 [N•m]

Mounting screw

Screw size: M5


Mass: 0.5 [kg]

119

99

1.6

11 - 13


11.3 Junction terminal block MR-TB26A

(1) Usage

Always use the junction terminal block (MR-TB26A) with the option cable (MR-TBNATBL_M) as a set.

To use a junction terminal block, mount it to the DIN rail.

M R - T B N A T B L 0 5 M

Cable length

05: 0.5 m

1: 1 m

Terminal numbers on a junction terminal block correspond with the pin numbers on the CN3 connector of a servo amplifier. The terminal symbol S is for the shield.

Servo amplifier


MR-TB26A

CN3

Ground the junction terminal block cable using the S terminal of the junction terminal block.

(2) Specifications


Item

MR-TB26A

Rating

Usable cables

Tool

Stripped length

Stranded wire

Solid wire

Wire insulator OD

32 V AC/DC 0.5 A

0.08 mm 2 to 1.5 mm 2 (AWG 28 to 14)

φ0.32 mm to 1.2 mm

φ3.4 mm or less

210-619 (WAGO) or equivalent

210-119SB (WAGO) or equivalent

5 mm to 6 mm

11 - 14


(3) Dimensions

1

1

57

14

14

Note. Values in parenthesis are the sizes when installed with a 35 mm DIN rail.

[Unit: mm]

11 - 15


11.4 MR Configurator2

POINT

To ensure safety of the system against unauthorized access via a network, take security measures such as using a firewall.

For the MR-JE servo amplifier, use MR Configurator2 with software version

1.63R or later.

For connection with an Ethernet port, an IP address setting is required. For details, refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)".

When writing parameters or performing test operations through Ethernet, make the setting so that the IP address of the personal computer is within the range of the operation specification IP address.

MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer.

11.4.1 Specifications

Project

Item

Parameter

Positioning-data

Monitor

Diagnosis

Test operation

Adjustment

Others

Description

Create/read/save/delete project, system setting, and print

Parameter setting

Point table (Note)

Display all, I/O monitor, graph, and ABS data display

Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life diagnosis, and machine diagnosis

Jog operation, positioning operation, motor-less operation, DO forced output, single-step feed

(Note), program operation, and test mode information

One-touch tuning, tuning, and machine analyzer

Servo assistant, parameter setting range update, switch display language, and help display

Note. It can be used on servo amplifiers with software version A4 or later and on MR Configurator2 with software version

1.72A or later.

11 - 16


11.4.2 System requirements

(1) Configuration diagram

To use this software, the following components are required in addition to the servo amplifier and servo motor.

Equipment Description

(Note 1, 2, 3, 4, 5)

Personal computer

Browser

Display

Keyboard

Mouse

Printer

USB cable

OS

Microsoft ® Windows ® 10 Home

Microsoft ® Windows ® 10 Pro

Microsoft ® Windows ® 10 Enterprise

Microsoft ® Windows ® 10 Education

Microsoft ® Windows ® 8.1 Enterprise

Microsoft ® Windows ® 8.1 Pro

Microsoft ® Windows ® 8.1


Microsoft ® Windows ® 8 Pro

Microsoft ® Windows ® 8


Microsoft ® Windows ® 7 Ultimate

Microsoft ® Windows ® 7 Professional

Microsoft ® Windows ® 7 Home Premium

Microsoft ® Windows ® 7 Starter

Microsoft ® Windows Vista ® Enterprise

Microsoft ® Windows Vista ® Ultimate

Microsoft ® Windows Vista ® Business

Microsoft ® Windows Vista ® Home Premium

Microsoft ® Windows Vista ® Home Basic

Microsoft ® Windows ® XP Professional, Service Pack3 or later

Microsoft ® Windows ® XP Home Edition, Service Pack3 or later

CPU

(recommended)

Desktop personal computer: Intel ® Celeron ® processor 2.8 GHz or more

Laptop personal computer: Intel ® Pentium ® M processor 1.7 GHz or more

Memory

(recommended) 512 MB or more (for 32-bit OS), 1 GB or more (for 64-bit OS)

Free space on the hard disk:

1 GB or more

Communication interface

USB port or Ethernet port

Windows ® Internet Explorer ® 4.0 or more

One whose resolution is 1024 × 768 or more and that can provide a high color (16 bit) display.

Connectable with the above personal computer.




MR-J3USBCBL3M

Ethernet cable Refer to section 11.1.3.

Note 1. On some personal computers, MR Configurator2 may not run properly.

2. The following functions cannot be used.

Windows Program Compatibility mode

Fast User Switching

Remote Desktop

Large Fonts Mode (Display property)

DPI settings other than 96 DPI (Display property)

For 64-bit operating system, this software is compatible with Windows ® 7 and Windows ® 8.

3. When Windows ® 7 or later is used, the following functions cannot be used.

Windows XP Mode

Windows touch

4. When using this software with Windows Vista ® or later, log in as a user having USER authority or higher.

5. When Windows ® 8 or later is used, the following functions cannot be used.

Hyper-V

Modern UI style

11 - 17


(2) Connection with servo amplifier

(a) By USB cable

CN5

USB cable

MR-J3USBCBL3M

(Option)

Personal computer

To USB connector

(b) By Ethernet cable

CN1

Ethernet cable

(1000BASE-T)

HUB

Personal computer

Ethernet cable

(1000BASE-T)

To Ethernet connector

11 - 18


11.4.3 Precautions for using USB and Ethernet communication functions

Note the following to prevent an electric shock and malfunction of the servo amplifier.

(1) Power connection of personal computers

Connect your personal computer with the following procedures.

(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire, use a three-pin socket or ground the grounding wire.

2) When your personal computer has two-core plug and has no grounding wire, connect the personal computer to the servo amplifier with the following procedures. a) Disconnect the power plug of the personal computer from an AC power socket. b) Check that the power plug was disconnected and connect the device to the servo amplifier. c) Connect the power plug of the personal computer to the AC power socket.

(b) When you use a personal computer with battery

You can use as it is.

(2) Connection with other devices using servo amplifier communication function

When the servo amplifier is charged with electricity due to connection with a personal computer and the charged servo amplifier is connected with other devices, the servo amplifier or the connected devices may malfunction. Connect the servo amplifier and other devices with the following procedures.

(a) Shut off the power of the device for connecting with the servo amplifier.

(b) Shut off the power of the servo amplifier which was connected with the personal computer and check the charge lamp is off.

(c) Connect the device with the servo amplifier.

(d) Turn on the power of the servo amplifier and the device.

11 - 19


11.5 Battery

POINT

Refer to app. 1 and 2 for battery transportation and the new EU Battery

Directive.

The battery is used to construct an absolute position detection system. For construction of an absolute position detection system, refer to chapter 12.

11.5.1 Selection of battery

Applicable batteries differ depending on servo amplifiers. Select a proper battery.

(1) Applications of the batteries

Model Name Application

MR-BAT6V1SET-A

MR-BT6VCASE

Battery

Battery case

For absolute position data-hold

For absolute position data-hold for multiple-axis servo motors

(2) Combination of battery and servo amplifier

Model

MR-BAT6V1SET-A

MR-BT6VCASE

MR-JE-_C

Built-in battery

MR-BAT6V1

MR-BAT6V1

11 - 20


11.5.2 MR-BAT6V1SET-A battery

POINT

For the specifications and the year and month of manufacture of the built-in MR-

BAT6V1 battery, refer to section 11.5.4.

(1) Parts identification and dimensions

27.4

[Unit: mm]

51

Connector for servo amplifier

Case

Mass: 55 [g] (including MR-BAT6V1 battery)

(2) Battery connection

Connect a battery as follows.

Servo amplifier

CN4

MR-BAT6VSET-A CN2

Encoder cable

Servo motor

11 - 21


(3) Battery replacement procedure

WARNING

Before replacing a battery, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION

The internal circuits of the servo amplifier may be damaged by static electricity.

Always take the following precautions.

Ground human body and work bench.

Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.

POINT

Replacing a battery will erase the absolute position data.

Before replacing batteries, check that the new battery is within battery life.

(a) Mounting method a)

Pull down the battery along the rail. Wrap the excess wire around a) of the battery.

11 - 22


For MR-JE-200C or more, connect the battery cable as follows.

Install a battery, and route the battery cable along the right side of the battery.

When connecting the encoder cable to CN2 connector, prevent the battery cable from being pinched.

Install a battery, and connect the plug to the CN4 connector.

(b) Removal procedure

CAUTION

Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery.

While pressing the lock release lever, pull out the connector.

Pull the lock release lever to push up the battery.

11 - 23


(4) Replacement procedure of the built-in battery

When the MR-BAT6V1SET-A reaches the end of its life, replace the MR-BAT6V1 battery in the MR-

BAT6V1SET-A.

Tab

1) Hold the tab and open the cover.

Cover

2) Replace the battery with a new MR-BAT6V1 battery.

3) Press the cover until it is fixed with the projection of the locking part to close the cover.

Projection

(4 places)

11 - 24


11.5.3 MR-BT6VCASE battery case

POINT

The battery unit consists of an MR-BT6VCASE battery case and five MR-

BAT6V1 batteries.

For the specifications and the year and month of manufacture of the MR-

BAT6V1 battery, refer to section 11.5.4.

MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. No battery is included in the battery case. Prepare MR-BAT6V1 batteries separately.

(1) Number of connectable servo motors

One MR-BT6VCASE case can hold the absolute position data of up to 8-axis servo motors. Servo motors in an incremental system are included as the axis numbers.

(2) Dimensions

[Unit: mm]

2- 5 mounting hole 2-M4 screw

25

Approx. 70 130

4.6

5

Approx. 25

5


Mounting screw

Screw size: M4

[Mass: 0.18 kg]

11 - 25


(3) Battery connection

POINT

One battery unit can be connected to up to 8-axis servo motors. Servo motors in an incremental system are included as the axis numbers.

(a) When using 1-axis servo amplifier

MR-BT6VCASE

CN10

CN4

MR-BT6V1CBL_M

Servo amplifier

(b) When using up to 8-axis servo amplifiers

MR-BT6VCASE

CN10

MR-BT6V1CBL_M

MR-BT6V2CBL_M

CN4

MR-BT6V2CBL_M

CN4 CN4

Servo amplifier

(First)

Servo amplifier

(Second)

Servo amplifier

(Last)

11 - 26


(4) Battery replacement procedure

WARNING

Before replacing a battery, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION

The internal circuits of the servo amplifier may be damaged by static electricity.

Always take the following precautions.

Ground human body and work bench.

Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.

POINT

Replacing a battery will erase the absolute position data.

Before replacing batteries, check that the new battery is within battery life.

11 - 27


(a) Assembly of the battery unit

CAUTION Do not mount new and old batteries together.

When you change a battery, change all batteries at the same time.

POINT

Always mount five MR-BAT6V1 batteries to the MR-BT6VCASE battery case.

1) Things to be prepared

Product name

Battery case

Battery

Model

MR-BT6VCASE

MR-BAT6V1

Quantity

1

5

Remark

MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries.

Lithium battery (primary battery, nominal + 6 V)

2) Disassembly and assembly of the battery case MR-BT6VCASE a) Disassembly of the case

MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be disassembled.

Threads

Remove the two screws using a

Phillips head screwdriver.

Cover

Remove the cover.

CON2

CON3

CON1

CON4

CON5

BAT1

Parts identification

BAT2 BAT3

BAT4 BAT5

11 - 28


BAT1 b) Mounting MR-BAT6V1

Securely mount an MR-BAT6V1 to the BAT1 holder.

CON1

Click

Insert the MR-BAT6V1 connector mounted on the BAT1 holder to

CON1.

Confirm the click sound at this point.

The connector has to be connected in the right direction.

If the connector is pushed forcefully in the incorrect direction, the connector will break.

Place the MR-BAT6V1 lead wire to the duct designed to store lead wires.

Insert MR-BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5.

Bring out the lead wire from the space between the ribs, and bend it as shown above to store it in the duct. Connect the lead wire to the connector. Be careful not to get the lead wire caught in the case or other parts.

When the lead wire is damaged, external short circuit may occur, and the battery can become hot.

11 - 29

11. OPTIONS AND PERIPHERAL EQUIPMENT c) Assembly of the case

After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m.

POINT

When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.

Threads d) Precautions for removal of battery

The connector attached to the MR-BAT6V1 battery has the lock release lever. When removing the connector, pull out the connector while pressing the lock release lever.

3) Battery cable removal

CAUTION

Pulling out the connector of the MR-BT6V1CBL and MR-BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the MR-BT6V1CBL or MR-BT6V2CBL.

Pull out the connector in the same procedure as that of the MR-BAT6V1SET-A. Refer to section

11.5.2 (3) (b).

11 - 30


11.5.4 MR-BAT6V1 battery

The MR-BAT6V1 battery is a lithium primary battery for replacing MR-BAT6V1SET-A and a primary lithium battery built-in MR-BT6VCASE. Always store the MR-BAT6V1 in a case when using it.

The year and month of manufacture of the MR-BAT6V1 battery are described on the rating plate put on an

MR-BAT6V1 battery.

Rating plate

2CR17335A WK17

11-04

6V 1650mAh

The year and month of manufacture

Item

Battery pack

Nominal voltage

Nominal capacity

[V]

[mAh]

Storage temperature [°C]

Operating temperature [°C]

Lithium content

Mercury content

[g]

Dangerous goods class

Operating humidity and storage humidity

(Note) Battery life

Mass [g]

Description

2CR17335A (CR17335A × 2 pcs. in series)

6

1650

0 to 55

0 to 55

1.2

Less than 1 ppm

Not subject to the dangerous goods (Class 9)

Refer to app. 1 for details.


5 years from date of manufacture

34

Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.

11 - 31


11.6 Selection example of wires

POINT

To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 3 for wiring. To comply with other standards, use a wire that is complied with each standard.

Selection conditions of wire size are as follows.

Construction condition: Single wire set in midair

Wiring length: 30 m or shorter

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

1) Power lead

Power supply

Servo amplifier

L1

L2

L3

U

V

W

M

2) Servo motor power supply lead

Regenerative option

C

P+

3) Regenerative option lead

Table 11.1 shows examples for using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire).

Table 11.1 Wire size selection example (HIV wire)

Servo amplifier

1) L1/L2/L3/

Wire [mm 2 ]

3) P+/C

2) U/V/W/

(Note 1)

MR-JE-10C

MR-JE-20C

MR-JE-40C

MR-JE-70C

MR-JE-100C

MR-JE-200C

(3-phase power supply input)

MR-JE-200C


MR-JE-300C

2 (AWG 14)

3.5 (AWG 12)

2 (AWG 14)

2 (AWG 14)

AWG 18 to 14

(Note 2)

AWG 16 to 10

Note 1. The wire size shows applicable size of the servo amplifier connector. For wires connecting to the servo motor, refer to "HG-KN/HG-SN Servo Motor Instruction

Manual".

2. Be sure to use the size of 2 mm 2 when corresponding to IEC/EN/UL/CSA standard.

11 - 32


11.7 Molded-case circuit breakers, fuses, magnetic contactors

CAUTION

To prevent the servo amplifier from smoke and a fire, select a molded-case circuit breaker which shuts off with high speed.

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.

When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.

Molded-case circuit breaker (Note 1, 4) Fuse

Servo amplifier

Frame, rated current

Power factor improving reactor is not used

Power factor improving reactor is used

Voltage AC

[V]

Class

Magnetic contactor

(Note 2)

MR-JE-10C

MR-JE-20C

MR-JE-40C

MR-JE-70C

MR-JE-100C


MR-JE-100C


30 A frame 5 A

30 A frame 10 A

30 A frame 15 A

30 A frame 15 A

30 A frame 5 A

30 A frame 5 A

30 A frame 10 A

30 A frame 15 A

240 T

10

15

20

30

300

S-N10

S-T10

MR-JE-200C 30 A frame 20 A 30 A frame 20 A 40

S-N20

(Note 3)

S-T21

S-N20

S-T21

MR-JE-300C 30 A frame 30 A 30 A frame 30 A 70

Note 1. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 3.

2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.

3. S-N18 can be used when auxiliary contact is not required.

4. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric generalpurpose products.

The Type E Combination motor controller can also be used instead of a molded-case circuit breaker.

Type E Combination motor controller

Servo amplifier

Rated input voltage

AC [V]

Input phase

Model

Rated voltage

AC [V]

Rated current [A]

(Heater design)

SCCR

[kA]

MR-JE-10C

MR-JE-20C

MR-JE-40C

MR-JE-70C

MR-JE-100C

MR-JE-200C

MR-JE-300C

200 to 240 3-phase MMP-T32 240

1.6

2.5

4

6.3

8

18

25

50

25

11 - 33


11.8 Power factor improving AC reactor

(1) Advantages

It improves the power factor by increasing the form factor of the servo amplifier's input current.

It decreases the power supply capacity.

The input power factor is improved to about 80%.

(2) Restrictions

When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.

(3) Connection example

(a) When using 3-phase 200 V AC to 240 V AC power supply

3-phase

200 V AC to

240 V AC

MCCB MC R

Servo amplifier

FR-HAL

X

L1

S Y

L2

T Z

L3

(b) When using 1-phase 200 V AC to 240 V AC power supply for MR-JE-10C to MR-JE-100C

(Note)

1-phase

200 V AC to

240 V AC

MCCB MC R

Servo amplifier

FR-HAL

X

L1

S Y

L2

T Z

L3

Note. Connect the power supply to L1 and L3. Leave L2 open.

(c) When using 1-phase 200 V AC to 240 V AC power supply for MR-JE-200C

(Note)

1-phase

200 V AC to

240 V AC

MCCB MC R

Servo amplifier

FR-HAL

X

L1

S Y

L2

T Z

L3

Note. Connect the power supply to L1 and L2. Leave L3 open.

11 - 34


(4) Dimensions

Terminal layout

R X S Y T Z

4-d mounting hole

(Varnish is removed from front right mounting hole (face and back side).) (Note 1)

D or less

W1

Max. W (Note 2)

D2

D1

Servo amplifier



MR-JE-40C

FR-HAL-0.4K

FR-HAL-0.75K

MR-JE-70C FR-HAL-1.5K

MR-JE-100C

(3-phase power supply input) FR-HAL-2.2K

MR-JE-100C


FR-HAL-3.7K

MR-JE-200C


Dimensions

Fig. 11.1

Fig. 11.1

W W1

104

104

84

84

104 84

115

(Note 3) 40

115

(Note 3) 40

MR-JE-200C


MR-JE-300C

Note 1. Use this for grounding.

FR-HAL-5.5K

2. W ± 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K.

115

(Note 3) 40

Dimensions [mm]

H

D

(Note 3) D1

99

99

99

72

74

77

51

56

61

115

115

115

77

83

83

3. Maximum dimensions. The dimension varies depending on the input/output lines.

11.9 Relay (recommended)

71

81

81

The following relays should be used with the interfaces.

Interface

Digital input (interface DI-1)

Relay used for digital input command signals

Digital output (interface DO-1)

Relay used for digital output signals

D2 d

40 M5

44 M5

50 M5

57 M6

Terminal size

Mass

[kg]

M4

M4

M4

M4

0.6

0.8

1.1

1.5

67 M6

67 M6

M4

M4

2.2

2.3

Selection example

To prevent defective contacts, use a relay for small signal (twin contacts).

(Ex.) Omron: type G2A, type MY

Small relay with 12 V DC or 24 V DC of rated current 40 mA or less

(Ex.) Omron: type MY

11 - 35


11.10 Noise reduction techniques

Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral equipment to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.

Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral equipment malfunctions due to noises produced by the servo amplifier, take measures to suppress the noises. The measures will vary slightly with the routes of noise transmission.

(1) Noise reduction techniques

(a) General reduction techniques

Avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

Use a shielded twisted pair cable for connection with the encoder and for control signal transmission, and connect the external conductor of the cable to the SD terminal.

Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11.)

(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.

Provide surge absorbers on the noise sources to suppress noises.

Attach data line filters to the signal cables.

Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings.

Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended.

(c) Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction

Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral equipment located near the main circuit cables, and those transmitted through the power supply cables.

Noises produced by servo amplifier

Noises transmitted in the air Noise radiated directly from servo amplifier Route 1)

Noise radiated from the power supply cable Route 2)

Magnetic induction noise

Static induction noise

Noises transmitted through electric channels

Noise radiated from servo motor cable

Routes 4) and 5)

Route 6)

Noise transmitted through power supply cable

Noise sneaking from grounding cable due to leakage current

Route 3)

Route 7)

Route 8)

11 - 36


Instrument

5)

7)

Receiver

7) 7)

2)

3)

1)

Servo amplifier

4)

6)

2)

Sensor

8)

3)

Servo motor M

Noise transmission route

1) 2) 3)

4) 5) 6)

7)

8)

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 cabinet together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required.

1. Provide maximum clearance between easily affected devices and the servo amplifier.

2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier.

3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side or bundling them together.

4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.

5. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.

When the power lines and the signal lines are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. The following techniques are required.

1. Provide maximum clearance between easily affected devices and the servo amplifier.

2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier.

3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side or bundling them together.

4. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.

When the power supply of peripheral equipment is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required.

1. Install the radio noise filter (FR-BIF) on the power lines (Input lines) of the servo amplifier.

2. Install the line noise filter (FR-BSF01) on the power lines of the servo amplifier.

If the grounding wires of the peripheral equipment and the servo amplifier make a closed loop circuit, leakage current may flow through, causing the equipment to malfunction. In this case, the malfunction may be prevented by the grounding wires disconnected from the equipment.

11 - 37


(d) Noise reduction techniques for the network cable

POINT

Take measures against noise for both ends of the network cable.

When using it in an environment with excessive noise, directly connect the shield of the network cable to the ground plate with cable clamp fittings at a place 200 mm to 300 mm from the servo amplifier.

When connecting the network cable from outside the cabinet, connect it to the ground plate at a place 5 mm to 10 mm away from the cabinet entrance.

To reinforce measures against noise, it is recommended to install a data line filter (TDK ZCAT1730-

0730) to the network cable. Install the data line filter to a place 80 mm or less from the servo amplifier.

1) For inside the cabinet a) When using cable clamp fittings

Servo amplifier

Cable clamp fitting

CN1

200 mm to 300 mm b) When using a data line filter

Servo amplifier

CN1

80 mm or less

Data line filter

11 - 38


2) For outside the cabinet a) When using cable clamp fittings

Servo amplifier

CN1

Cable clamp fitting

Inside the cabinet

Outside the cabinet

Locate 5 mm to 10 mm away from the cabinet entrance.

b) When using a data line filter

Servo amplifier

CN1

80 mm or less

Inside the cabinet

Data line filter

Outside the cabinet

11 - 39


(2) Noise reduction techniques

(a) Data line filter (recommended)

Noise can be prevented by installing a data line filter onto the encoder cable, etc.

For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, GRFC-13 by Kitagawa

Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.

As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below. These impedances are reference values and not guaranteed values.

Impedance [Ω]

[Unit: mm]

10 MHz to 100 MHz 100 MHz to 500 MHz

80 150

39 ± 1

34 ± 1

TDK

Product name Lot number

Outline drawing (ZCAT3035-1330)

(b) Surge killer (recommended)

Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo amplifier. Use the following surge killer or equivalent.

ON

OFF

MC

MC

Surge killer

SK

Relay

Surge killer

This distance should be short

(within 20 cm).

Rated voltage

AC [V]

250

C

[µF ± 20%]

R

[Ω ± 30%]

0.5

50

(1/2 W)

(Ex.) CR-50500 Okaya Electric Industries)

Test voltage

Soldered

Band (clear)

15 ± 1

Dimensions [Unit: mm]

AWG 18 Twisted wire

Between terminals:

625 V AC, 50/60 Hz 60 s

Between terminal and case:

2000 V AC, 50/60 Hz 60 s

6 ± 1

300 min.

CR-50500

48 ± 1.5

6 ± 1

300 min.

16 ± 1

φ 3.6

(18.5 + 5) max.

Note that a diode should be installed to a DC relay or the like.

Maximum voltage: not less than four times the drive voltage of the relay or the like

Maximum current: not less than two times the drive current of the relay or the like

+

RA

Diode

-

11 - 40


(c) Cable clamp fitting AERSBAN-_SET

Generally, connecting the grounding of the shielded wire to the SD terminal of the connector provides a sufficient effect. However, the effect can be increased when the shielded wire is connected directly to the grounding plate as shown below.

Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the grounding plate with the cable clamp. If the cable is thin, clamp several cables in a bunch.

The cable clamp comes as a set with the grounding plate.

[Unit: mm]

Cable clamp

(A, B)

Cable

Grounding plate

Strip the cable sheath of the clamped area.

cutter cable

Dimensions

External conductor

Clamp section diagram

Grounding plate

2φ 5 hole installation hole

17.5

[Unit: mm]

Clamp section diagram

[Unit: mm]

L or less 10

(Note) M4 screw

6

35

0 -0.

22

Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.

Model A

AERSBAN-DSET 100

AERSBAN-ESET 70

B

86

56

C

30

Accessory fittings

Clamp A: 2 pcs.

Clamp B: 1 pc.

Clamp fitting

A

B

L

70

45

11 - 41


(d) Line noise filter (FR-BSF01)

This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It especially affects the noises between 0.5 MHz and 5 MHz band.

Connection diagram

The line noise filters can be installed on lines of the power supply

(L1/L2/L3) and of the servo motor power (U/V/W). Pass each of the wires through the line noise filter an equal number of times in the same direction. For wires of the power supply, the effect of the filter rises as the number of passes increases, but generally four passes would be appropriate. For the servo motor power lines, passes must be four times or less. Do not pass the grounding wire through the filter. Otherwise, the effect of the filter will drop.

Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1. If the wires are too thick to wind, use two or more filters to have the required number of passes as shown in Example 2.

Place the line noise filters as close to the servo amplifier as possible for their best performance.


FR-BSF01 (for wire size 3.5 mm 2 (AWG 12) or less)

Approx. 110

95 ± 0.5

Approx. 65

φ 33

2φ 5

Example 1

MCCB

Power supply

MC

Line noise filter

Servo amplifier

L1

L2

L3

(Number of passes: 4)

Example 2

MCCB

Power supply

MC

Line noise filter

Servo amplifier

L1

L2

L3

Two filters are used

(Total number of passes: 4)

11 - 42


(e) Radio noise filter (FR-BIF)

This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the input only.

200 V class: FR-BIF

Connection diagram

Make the connection cables as short as possible. Grounding is always required.

When using the FR-BIF with a single-phase power supply, always insulate the lead wires that are not used for wiring.

Red


White Blue Green

Leakage current: 4 mA

Power supply

MCCB MC

Terminal block Servo amplifier

L1

L2

L3

29

5 hole

58 29

44

7

Radio noise filter

(f) Varistor for input power supply (recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON CHEMI-

CON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.

Power supply voltage

200 V class

Varistor

TND20V-431K

TND20V-471K

Maximum rating

Permissible circuit voltage

Surge current immunity

Energy immunity

AC [Vrms] DC [V] 8/20 µs [A] 2 ms [J]

275

300

350

385

10000/1 times

7000/2 times

195

215

Rated pulse power

Maximum capacity

[A] [V]

(reference value)

Varistor voltage rating

(range)

V1 mA

[W] [pF] [V]

1.0 100

710

775

1300

1200

430 (387 to 473)

470 (423 to 517)

D T

Model

D

Max.

H

Max.

T

Max.

E

±1.0

(Note)

L

Min.

φd

±0.05

[Unit: mm]

W

±1.0

TND20V-431K

TND20V-471K

6.4

6.6

3.3

3.5

21.5 24.5 20 0.8 10.0

W E

Note. For special purpose items for lead length (L), contact the manufacturer. d

11 - 43


11.11 Earth-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.

Select an earth-leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.

To minimize leakage currents, make the input and output wires as short as possible, and keep a distance of 30 cm or longer between the wires and ground.

Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA] ···································· (11.1)

Earth-leakage current breaker

NV

Wire

Noise filter

Servo amplifier

Ig1 Ign Iga

Wire

Ig2

M

Igm

Type

Models provided with harmonic and surge reduction techniques

Mitsubishi

Electric products

NV-SP

NV-SW

NV-CP

NV-CW

K

1

NV-HW

General models

BV-C1

NFB

NV-L

3

Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input terminals of the servo amplifier (Found from Fig. 11.2.)

Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (found from Fig. 11.2.)

Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF)

Iga: Leakage current of the servo amplifier (Found from table 11.3.)

Igm: Leakage current of the servo motor (Found from table 11.2.)

120

100

80

60

40

20

0

2 5.5 14

22

30

Cable size [mm 2

60150

80

]

Fig. 11.2 Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit

11 - 44


Table 11.2 Servo motor leakage current example (lgm)

Servo motor power [kW]

0.1 to 1

1.5 to 2

3

Leakage current [mA]

0.1

0.2

0.3

Table 11.3 Servo amplifier leakage current example (Iga)

Servo amplifier capacity [kW]

0.1 to 0.4

0.75 to 3

Leakage current [mA]

0.1

0.15

Table 11.4 Earth-leakage current breaker selection example

Servo amplifier capacity [kW]

MR-JE-10C to MR-JE- 300C

Rated sensitivity current of earthleakage current breaker [mA]

15

(2) Selection example

Indicated below is an example of selecting an earth-leakage current breaker under the following conditions.

2 mm 2 × 5 m 2 mm 2 × 5 m

NV

Servo amplifier

MR-JE-40C

M

Servo motor

HG-KN43_

Ig1 Iga Ig2 Igm

Use an earth-leakage current breaker designed for suppressing harmonics/surges.

Find the terms of equation (11.1) from the diagram.

Ign = 0 (not used)

Iga = 0.1 [mA]

Igm = 0.1 [mA]

Insert these values in equation (11.1).

Ig ≥ 10 • {0.1 + 0 + 0.1 + 1 • (0.1 + 0.1)}

≥ 4 [mA]

According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity current (Ig) of 4.0 mA or more.

Use an earth-leakage current breaker having Ig of 15 mA with the NV-SP/SW/CP/CW/HW series.

11 - 45


11.12 EMC filter (recommended)

POINT

For when multiple servo amplifiers are connected to one EMC filter, refer to section 6.4 of "EMC Installation Guidelines".

It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC filters have large in leakage current.

(1) Combination with the servo amplifier

Recommended filter (Soshin Electric)

Servo amplifier

Model

Rated current

[A]

Rated voltage

[V AC]

Leakage current

[mA]

Mass [kg]

MR-JE-10C to

MR-JE-100C

MR-JE-200C,

MR-JE-300C

HF3010A-UN

(Note)

HF3030A-UN

(Note)

10

30

250

Note. A surge protector is separately required to use any of these EMC filters.

(2) Connection example

(a) When using 3-phase 200 V AC to 240 V AC power supply

5

3.5

5.5

EMC filter Servo amplifier

MCCB MC

3-phase

200 V AC to

240 V AC

1

2

3

4

5

6

E

L1

L2

L3

1 2 3

(Note)

Surge protector

(RSPD-250-U4)

(OKAYA Electric Industries Co., Ltd.)

Note. The example is when a surge protector is connected.

(b) When using 1-phase 200 V AC to 240 V AC power supply for MR-JE-10C to MR-JE-100C

EMC filter Servo amplifier

MCCB MC

(Note 1)

1-phase

200 V AC to

240 V AC

1

2

3

4

5

6

E

L1

L2

L3

1 2 3

(Note 2)

Surge protector

(RSPD-250-U4)


Note 1. Connect the power supply to L1 and L3. Leave L2 open.

2. The example is when a surge protector is connected.

11 - 46


(c) When using 1-phase 200 V AC to 240 V AC power supply for MR-JE-200C

EMC filter

(Note 1)

1-phase

200 V AC to

240 V AC

MCCB

1

2

3

4

5

6

E

MC

Servo amplifier

L1

L2

L3

1 2 3

(Note 2)

Surge protector

(RSPD-250-U4)


Note 1. Connect the power supply to L1 and L2. Leave L3 open.

2. The example is when a surge protector is connected.

(3) Dimensions

(a) EMC filter

HF3010A-UN

3-M4 4-5.5 × 7 3-M4 M4

[Unit: mm]

IN

258 ± 4

273 ± 2

288 ± 4

300 ± 5

65 ± 4

Approx. 41

HF3030A-UN

[Unit: mm]

3-M5

6-R3.25 length: 8

3-M5

85 ± 1 85 ± 1

210 ± 2

260 ± 5

11 - 47

M4

70 ± 2

140 ± 2


(b) Surge protector

RSPD-250-U4

φ 4.2 ± 0.5

Resin

Lead

Case

1 2 3

41 ± 1

1 2 3

[Unit: mm]

11 - 48

12. ABSOLUTE POSITION DETECTION SYSTEM


CAUTION

If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation.

If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short circuit of the battery, the MR-BAT6V1 battery can become hot. Use the MR-BAT6V1 battery with case to prevent getting burnt.

POINT

Refer to section 11.5 for the replacement procedure of the battery.

There are two types of batteries, MR-BAT6V1SET-A and MR-BT6VCASE available to construct the absolute position detection system.

When absolute position data is erased from the encoder, always execute home position setting before operation. The absolute position data of the encoder will be erased in the followings. Additionally, when the battery is used out of specification, the absolute position data can be erased.

The encoder cable was disconnected.

The battery was replaced when the power supply was off.

12.1 Summary

12.1.1 Features

For normal operation, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.

The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the programmable controller power is on or off. Therefore, once home position return is made at the time of machine installation, home position return is not needed when power is switched on thereafter.

Even at a power failure or a malfunction, the system can be easily restored.

12 - 1


12.1.2 Restrictions

The system cannot be configured under the following conditions. Additionally, test operation cannot be performed in the absolute position detection system. To perform test operation, select incremental system in

[Pr. PA03].

(1) Speed control mode and torque control mode

(2) Control switch-over mode (position/speed, speed/torque, and torque/position)

(3) Stroke-less coordinate system, e.g. rotary shaft, infinitely long positioning

(4) Changing electronic gear after home position setting.

(5) Using alarm code output.

12.1.3 Structure

The following shows a configuration of the absolute position detection system. Refer to section 11.5 for each battery connection.

Positioning module I/O module

RD75P4, RD75D4

QD75P_N, QD75D_N

LD75P4, LD75D4

FX

2N

-_GM, FX

2N

-_PG

FX

3U

-_

FX

5U

-_

RX40C7, RX41C4, RX42C4

RY40NT5P, RY41NT2P, RY42NT2P

RY40PT5P, RY41PT1P, RY42PT1P

QX40, QX41, QX42

QY40, QY41P, QY42P, QY50

LX40C6, LX41C4, LX42C4

LY40NT5P, LY41NT1P, LY42NT1P

LY40PT5P, LY41PT1P, LY42PT1P

FX

2N

series

FX

3U

series

FX

5U

series

Controller Servo amplifier

CN1

CN2

CN3

Battery

CN4

Servo motor

12 - 2



POINT

Set "_ _ _ 2" in [Pr. PA03] when using the absolute position detection system by communication.

Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system. Set "_ _ _ 2" when using the

ABS transfer system by communication. Refer to section 12.3 for the ABS transfer system by communication.

[Pr. PA03]

1

Absolute position detection system selection

0: Disabled (incremental system)

2: Enabled (absolute position detection system by communication-based)

12.1.5 Confirmation of absolute position detection data

You can check the absolute position data with MR Configurator2. Choose "Monitor" and "ABS Data Display" to open the absolute position data display screen.

12 - 3


12.2 Battery

12.2.1 Using the MR-BAT6V1SET-A battery



Position data

Current position

Home position data

LS0

CYC0

Step-down circuit

(6 V 3.4 V)

LS

Detecting the number of revolutions

CYC

Detecting the position at one revolution

MR-BAT6V1SET-A

Servo motor

Cumulative revolution counter

(1 pulse/rev)

One-revolution counter

High speed serial communication

(2) Specifications

(a) Specification list

Item Description

System

Maximum revolution range

(Note 1)

Maximum speed at power failure [r/min]

Electronic battery backup type

Home position ± 32767 rev.

6000

(only when acceleration time until 6000 r/min is 0.2 s or longer)

(Note 2)

Battery backup time

Approximately 20,000 hours

(equipment power supply: off, ambient temperature: 20 °C)

Approximately 29,000 hours

(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)

Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like.

2. The data-holding time by the battery using MR-BAT6V1SET-A. Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.

3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.

12 - 4


12.2.2 Using the MR-BT6VCASE battery case

POINT

One MR-BT6VCASE can hold the absolute position data of up to 8-axis servo motors.

Always install five MR-BAT6V1 batteries to MR-BT6VCASE.



Position data

Current position

Home position data

LS0

CYC0

Step-down circuit

( 6 V 3.4 V )

MR-BT6VCASE

LS

Detecting the number of revolutions

CYC

Detecting the position within one revolution

Servo motor

MR-BAT6V1 × 5 High speed serial communication

Within one revolution counter

(2) Specification list

Item Description

System

Maximum revolution range

(Note 1)

Maximum speed at power failure [r/min]

Electronic battery backup type

Home position ± 32767 rev.

6000

(only when acceleration time until 6000 r/min is 0.2 s or longer)

(Note 2)

Approximately 40,000 hours/2 axes or less, 30,000 hours/3 axes, or

10,000 hours/8 axes

(equipment power supply: off, ambient temperature: 20 °C)

Battery backup time Approximately 55,000 hours/2 axes or less, 38,000 hours/3 axes, or

15,000 hours/8 axes

(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)

Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like.

2. The data-holding time by five MR-BAT6V1 batteries. The battery life varies depending on the number of target axes (including axis for using in the incremental system). Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.

3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.

12 - 5


12.3 Communication-based absolute position transfer system

12.3.1 Communication command

The following commands are available for reading absolute position data by communication. When reading data, ensure that the IP address of the servo amplifier or station number are correct. For communication function, refer to the "MR-JE-_C Servo Amplifier Instruction Manual (Network)".

When the master station sends the command to the slave station (servo amplifier), the slave station returns the data value to the master station.

(1) Transmission

(a) For SLMP

Send command 4020h sub-command 0001h Index 6064h Sub Index 0h.

(b) For Modbus/TCP or Modbus RTU

Send function code 03h start address 6064h No. of Points 01h.

(2) Reply

The absolute position data in the command pulse unit is returned in decimal.

Data 32-bit length (decimal representation)

12.3.2 Absolute position data transfer protocol

(1) Data transfer procedure

Every time SON turns on at power-on or like, the controller must read the current position data in the servo amplifier. Not performing this operation will cause a position shift.

Time-out monitoring should be performed by the controller.

Servo amplifier Controller

SON on

RD on

Absolute position data command transmission

Refer to section 12.3.1 (1).

Absolute position data acquisition

Watch dog timer

Absolute position data return

Current position acquisition

Current value change

Position command start

12 - 6


(2) Transfer method

The following shows a sequence how to turn on the base circuit while it is off state because SON is off,

EM2 is off, or an alarm is occurring. In the absolute position detection system every time RD turns on, always read to the controller the servo amplifier current internal position with the SLMP, Modbus/TCP or

Modbus RTU communication command. The servo amplifier sends the current position to the controller on receipt of the command. At the same time, this data is set as a position command value in the servo amplifier.

(a) Sequence processing at power-on

Power supply

SON

Base circuit

RD

ON

OFF

ON

OFF

ON

OFF

ON

OFF

95 ms

5 ms


Absolute position data receive

Current position

Current position change

Absolute position data

Pulse train command

During this period, get absolute position data.

1) The base circuit turns on after 95 ms.

2) After the base circuit is turned on, RD turns on.

3) After RD turned on and the controller acquired the absolute position data, give command pulses to the servo amplifier. If the controller gives command pulses before acquiring the absolute position data, a position shift can occur.

(b) Communication error

If a communication error occurs between the controller and servo amplifier, the servo amplifier sends the error code. For details of error codes, refer to "MR-JE-_C Servo Amplifier Instruction Manual

(Network)".

Section 2.4.5

Section 3.6.5

Section 4.8.5

If a communication error has occurred, perform retry operation. If several retries do not result in a normal termination, perform error processing.

12 - 7


(c) At the time of alarm reset

If an alarm has occurred, detect ALM and turn off SON. After removing the alarm occurrence factor and deactivating the alarm, get the absolute position data again from the servo amplifier in accordance with the procedure in (a) in this section.

SON

RES

Base circuit

ALM

RD

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

95 ms

5 ms




Current position


Pulse train command


12 - 8


(d) At the time of forced stop reset

210 ms after the forced stop is deactivated, the base circuit turns on, and RD turns on further 5 ms after that, turns on. Always get the current position data using RD as the trigger before the position command is issued.

1) When power is switched on in a forced stop status

Power supply

SON

EM2

Base circuit

RD

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF



210 ms

5 ms

Current position



Pulse train command


2) When a forced stop is activated during servo on

SON

EM2

Base circuit

RD

ON

OFF

ON

OFF

ON

OFF

ON

OFF



Current position

Pulse train command

95 ms

5 ms




12 - 9


MEMO

12 - 10

APPENDIX

APPENDIX

App. 1 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter

Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation

Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the

International Maritime Organization (IMO).

To comply the instruction and code, we have modified the indication on the package for general-purpose AC servo batteries.

The above change will not affect the function and performance of the product.

(1) Target model

(a) Battery (cell)

Model Option model Type

Lithium content

Mass of battery

Remark

ER6

ER17330

MR-J3BAT

MR-BAT

A6BAT

Cell

Cell

Cell

0.65 g

0.48 g

0.48 g

16 g

13 g

13 g

Cells with more than 0.3 grams of lithium content must be handled as dangerous goods (Class 9) depending on packaging requirements.

(b) Battery unit (assembled battery)

Model Option model Type

Lithium content

Mass of battery

Remark

ER6

CR17335A

MR-J2M-BT

MR-BAT6V1

Assembled battery

(Seven)

Assembled battery (Two)

4.55 g

1.20 g

1.20 g

112 g

34 g

34 g

Assembled batteries with more than two grams of lithium content must be handled as dangerous goods (Class

9) regardless of packaging requirements.

Assembled batteries with more than

0.3 grams of lithium content must be handled as dangerous goods (Class

9) depending on packaging requirements.

MR-BAT6V1BJ

Assembled battery (Two)

1.20 g 34 g

(2) Purpose

Safer transportation of lithium metal batteries.

(3) Change in regulations

The following points are changed for lithium metal batteries in transportation by sea or air based on the revision of Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition, and IATA

Dangerous Goods Regulations 54th Edition (effective January 1, 2013). For lithium metal batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are classified as

UN3091.

App. - 1

APPENDIX

(a) Transportation of lithium metal batteries alone

Packaging requirement

Less than eight cells per package with less than one gram of lithium content

Less than two assembled batteries per package with less than two grams of lithium content

More than eight cells per package with less than one gram of lithium content

More than two assembled batteries per package with less than two grams of lithium content

Cells with more than one gram of lithium content

Assembled batteries with more than two grams of lithium content

Classification

UN3090 PI968 Section II

UN3090 PI968 Section IB

UN3090 PI968 Section IA

Main requirement

The package must pass a 1.2 m drop test, and the handling label with battery illustration (size: 120 ×

110 mm) must be attached on the package.

The package must pass a 1.2 m drop test, and the handling label with battery illustration (size: 120 ×

110 mm) must be attached on the package.

The Class 9 hazard label must be attached or others to comply with dangerous goods (Class 9).

The package must be compliant with Class 9

Packages, and the Class 9 hazard label must be attached or others to comply with dangerous goods (Class 9).

(b) Transportation of lithium metal batteries packed with or contained in equipment

1) For batteries packed with equipment, follow the necessary requirements of UN3091 PI969.

Batteries are classified into either Section II/Section I depending on the lithium content/packaging requirements.

2) For batteries contained in equipment, follow the necessary requirements of UN3091 PI970.

Batteries are classified into either Section II/Section I depending on the lithium content/packaging requirements.

The special handling may be unnecessary depending on the number of batteries and gross mass per package.

Fig. app. 1 Example of Mitsubishi label with battery illustration

(Available until December 31, 2018)

* Place for UN number (s)

** Place for telephone number for additional information

Fig. app. 2 Example of Mitsubishi label with battery illustration

(Available from January 1, 2017)

The handling label shown in Fig. app. 1 has been changed to the one shown in Fig. app. 2 in accordance with the IATA Dangerous Goods Regulations 58th Edition (effective January 1, 2017).

However, the label shown in Fig. app. 1 may be used until December 31, 2018 (for two years as an interim measure).

(4) Details of the package change

The following caution is added to the packages of the target batteries.

"Containing lithium metal battery. Regulations apply for transportation."

App. - 2

APPENDIX

(5) Transportation precaution for customers

For sea or air transportation, attaching the handling label (figure) must be attached to the package of a

Mitsubishi Electric cell or battery. In addition, attaching it to the outer package containing several packages of Mitsubishi Electric cells or batteries is also required. When the content of a package must be handled as dangerous goods (Class 9), the Shipper's Declaration for Dangerous Goods is required, and the package must be compliant with Class 9 Packages. Documentations like the handling label in the specified design and the Shipper's Declaration for Dangerous Goods are required for transportation.

Please attach the documentations to the packages and the outer package.

The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually.

When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the customers. Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.

App. 2 Symbol for the new EU Battery Directive

Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery is explained here.

Note. This mark is for EU countries only.

This mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II.

Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused.

This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from your household waste.

If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration.

This will be indicated as follows.

Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)

In the European Union there are separate collection systems for used batteries and accumulators. Please, dispose of batteries and accumulators correctly at your local community waste collection/recycling center.

Please, help us to conserve the environment we live in!

App. - 3

APPENDIX

App. 3 Compliance with global standards

App. 3.1 About safety

This section explains safety of users and machine operators. Please read the section carefully before mounting the equipment.

App. 3.1.1 Professional engineer

Only professional engineers should mount MR-JE servo amplifiers.

Here, professional engineers should meet all the conditions below.

(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk based on past experience.

(2) Persons who have read and familiarized himself/herself with this installation guide and operating manuals for the protective devices (e.g. light curtain) connected to the safety control system.

App. 3.1.2 Applications of the devices

MR-JE servo amplifiers comply with the following standards.

IEC/EN 61800-5-1/GB 12668.501, IEC/EN/KN 61800-3/GB 12668.3

App. 3.1.3 Correct use

Use the MR-JE servo amplifiers within specifications. Refer to section 1.3 for specifications such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation.

WARNING

If you need to get close to the moving parts of the machine for inspection or others, ensure safety by confirming the power off, etc. Otherwise, it may cause an accident.

It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and terminals immediately after power off.

App. - 4

APPENDIX

(1) Peripheral device and power wiring

The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 14.

(a) Local wiring

The following table shows the stranded wire sizes [AWG] symbols rated at 75 °C/60 °C.

75 °C/60 °C stranded wire [AWG]

Servo amplifier (Note 3) L1/L2/L3/

(Note 2)

P+/C

U/V/W/

(Note 1, 2)

MR-JE-10_/MR-JE-20_/MR-JE-40_/MR-JE-70_/MR-JE-100_ (T)/

MR-JE-200_/MR-JE-300_

14/14

14/14 14/14

MR-JE-200_ (S) 12/12

Note 1. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of the servo amplifiers.

2. The following shows the PE terminal specifications of the servo amplifier.

Screw size: M4


Recommended crimp terminals: R2-4 (Manufactured by JST)

Crimping tool: YPT-60-21 (Manufactured by JST)

3. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.

(b) Selection example of MCCB and fuse

Use T class fuses or molded-case circuit breaker (UL 489 Listed MCCB) as the following table. The

T class fuses and molded-case circuit breakers in the table are selected examples based on rated

I/O of the servo amplifiers. When you select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller capacity T class fuses or molded-case circuit breaker than ones in the table. For selecting ones other than Class T fuses and molded-case circuit breakers below and selecting a Type E Combination motor controller, refer to section 11.7.

Servo amplifier (Note) Molded-case circuit breaker (240 V AC) Fuse (300 V)

MR-JE-10_/MR-JE-20_/MR-JE-40_/MR-JE-70_ (T)

MR-JE-70_ (S)/MR-JE-100_ (T)

MR-JE-200_ (T)/MR-JE-300_

MR-JE-100_ (S)

NF50- SVFU-5A (50 A frame 5 A)

NF50- SVFU -10A (50 A frame 10 A)

NF50- SVFU -15A (50 A frame 15 A)

NF50-SVFU-15A (50 A frame 15 A)

10 A

15 A

30 A

30 A

MR-JE-200_ (S) NF50-SVFU-20A (50 A frame 20 A)

Note. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.

40 A

(c) Power supply

This servo amplifier can be supplied from star-connected supply with grounded neutral point of overvoltage category III (overvoltage category II for 1-phase servo amplifiers) set forth in IEC/EN

60664-1. For the interface power supply, use an external 24 V DC power supply with reinforced insulation on I/O terminals.

App. - 5

APPENDIX

(d) Grounding

To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. Do not connect two grounding cables to the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one. This product can cause a DC current in the protective earthing conductor. To protect direct/indirect contact using an earth-leakage current breaker (RCD), only an RCD of type B can be used for the power supply side of the product.

PE terminals

PE terminals

(2) EU compliance

The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. The CE marking proves the compliance of the manufacturer with the EC directives, and this marking also applies to machines and equipment incorporating servos.

(a) EMC requirement

MR-JE servo amplifiers comply with category C3 in accordance with IEC/EN 61800-3. Install an

EMC filter and surge protector on the primary side of the servo amplifier. As for I/O signal wires

(max. length 10 m) and encoder cables (max. length 50 m), use shielded wires and ground the shields. However, when the encoder cable length is longer than 30 m for MR-JE-70_ and MR-JE-

100_, set a radio noise filter (FR-BIF) to the input power supply side of the servo amplifier. The following shows recommended products.

EMC filter: Soshin Electric HF3000A-UN series

Surge protector: Okaya Electric Industries RSPD series

Radio noise filter: Mitsubishi Electric FR-BIF

MR-JE Series are not intended to be used on a low-voltage public network which supplies domestic premises; radio frequency interference is expected if used on such a network. The installer shall provide a guide for Installation and use, including recommended mitigation devices. To avoid the risk of crosstalk to signal cables, the installation instructions shall either recommend that the power interface cable be segregated from signal cables.

Use the DC power supply installed with the amplifiers in the same cabinet. Do not connect the other electric devices to the DC power supply.

(b) For Declaration of Conformity (DoC)

Hereby, MITSUBISHI ELECTRIC EUROPE B.V. declares that the servo amplifiers are in compliance with EC directives (EMC directive (2014/30/EU), Low voltage directive (2014/35/EU), and RoHS directive (2011/65/EU)). For the copy of Declaration of Conformity, contact your local sales office.

App. - 6

APPENDIX

(3) USA/Canada compliance

This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 14.

(a) Installation

The minimum cabinet size is 150% of MR-JE servo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in the metal cabinet. Additionally, mount the servo amplifier on a cabinet that the protective earth based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should be used in open type (UL 50) and overvoltage category shown in table in app. 3.7.1. The servo amplifier needs to be installed at or below pollution degree 2. For connection, use copper wires.

(b) Short-circuit current rating (SCCR)

Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical

Amperes, 500 Volts Maximum. For SCCR when using a Type E Combination motor controller, refer to section 11.7.

(c) Overload protection characteristics

The MR-JE servo amplifiers have solid-state servo motor overload protection. (It is set on the basis

(full load current) of 120% rated current of the servo amplifier.)

(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.

Integral thermal protection(s) is necessary for motor and refer to app. 3.3 for the proper connection.

(e) Branch circuit protection

For installation in United States, branch circuit protection must be provided, in accordance with the

National Electrical Code and any applicable local codes.

For installation in Canada, branch circuit protection must be provided, in accordance with the

Canada Electrical Code and any applicable provincial codes.

(4) South Korea compliance

This product complies with the Radio Wave Law (KC mark). Please note the following to use the product.

이 기기는 업무용 (A 급 ) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며 , 가정외의

지역에서 사용하는 것을 목적으로 합니다 .

(The product is for business use (Class A) and meets the electromagnetic compatibility requirements.

The seller and the user must note the above point, and use the product in a place except for home.)

App. 3.1.4 General cautions for safety protection and protective measures

Observe the following items to ensure proper use of the MR-JE servo amplifiers.

(1) For installing systems, only qualified personnel and professional engineers should perform.

(2) When mounting, installing, and using the MR-JE servo amplifier, always observe standards and directives applicable in the country.

App. 3.1.5 Disposal

Disposal of unusable or irreparable devices should always occur in accordance with the applicable countryspecific waste disposal regulations. (Example: European Waste 16 02 14)

App. - 7

APPENDIX

App. 3.1.6 Lithium battery transportation

To transport lithium batteries, take actions to comply with the instructions and regulations such as the United

Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime

Organization (IMO).

The batteries (MR-BAT6V1SET-A and MR-BAT6V1) are assembled batteries from two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods (Class 9) of the UN

Recommendations.

App. 3.2 Installation direction and clearances

CAUTION

The devices must be installed in the specified direction. Not doing so may cause a malfunction.

Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2.

Cabinet Top Cabinet

10 mm or more

40 mm or more

10 mm or more

80 mm or longer for wiring

Servo amplifier

40 mm or more

Bottom

App. - 8

APPENDIX

App. 3.3 Electrical Installation and configuration diagram

WARNING

Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or damages to the product before starting the installation or wiring.

CAUTION

Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

Securely connect the cables in the specified method and tighten them with the specified torque. Otherwise, the servo motor may operate unexpectedly.

The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.

(1) 3-phase input

(3-phase

230 V AC)

MCCB or fuse

MC

L1 L2L3

Servo amplifier

Power supply

(3-phase

400 V AC)

To protective equipment

(Thermal signal) (Note)

CN1

PE

CN2

U/V/W/PE

Controller

Encoder cable

Servo motor

Cabinet side

Machine side

Encoder

Note. Please use a thermal sensor, etc. for thermal protection of the servo motor.

(2) 1-phase input

(1-phase

230 V AC)

MCCB or fuse

MC

L1 L2L3

(Note 2)

Servo amplifier

Power supply

(3-phase

400 V AC)

Transformer

(star-connected)

To protective equipment

(Thermal signal) (Note 1)

CN1

PE

CN2

U/V/W/PE

Controller

Encoder cable

Cabinet side

Machine side

Servo motor

Encoder

Note 1. Please use a thermal sensor, etc. for thermal protection of the servo motor.

2. For the MR-JE-200_ servo amplifiers, connect the power supply to L1 and L2.

Leave L3 open.

The connectors described by rectangles are safely separated from the main circuits described by circles.

Use MR-JE servo amplifiers in combination with HG series or HJ series servo motors.

App. - 9

APPENDIX

App. 3.4 Signals

App. 3.4.1 Signal

The following shows CN1 connector signals of MR-JE-10A as a typical example.

CN1

2

1

18

20

DICOM

22

24

INP

19

RES

21

DICOM

23

ZSP

25

9

LZR

11

PG

13

SDP

15

SON

17

3

LG

5

LAR

7

LBR

LZ

10

PP

12

4

LA

6

LB

8

OPC

14

SDN

16

27

TLA

29

MO2

31

TRE

33

OP

35

NP

37

39

RDP

41

CR

43

LSP

45

47

DOCOM

49

RD

40

RDN

42

EM2

44

LSN

46

DOCOM

48

ALM

50

34

LG

36

NG

38

26

MO1

28

LG

30

LG

32

This is in position control mode.

App. - 10

APPENDIX

App. 3.4.2 I/O device

The following shows typical I/O devices of MR-JE-_A. For the other devices, refer to each servo amplifier instruction manual.

Input device

Device Connector Symbol

SON

RES

CR

EM2

LSP

LSN

Servo-on

Reset

Clear

Forced stop 2

Forward rotation stroke end

Reverse rotation stroke end

CN1

Pin No.

15

19

41

42

43

44

Output device

Device Connector Symbol

ZSP

INP

ALM

RD

Zero speed detection

In-position

Malfunction

Ready

CN1

Pin No.

23

24

48

49

Symbol

DICOM

DOCOM

SD

Power supply

Digital I/F power supply input

Digital I/F common

Shield

Device Connector

CN1

Pin No.

20, 21

46, 47

Plate

App. - 11

APPENDIX

App. 3.5 Maintenance and service

WARNING To avoid an electric shock, only qualified personnel should attempt inspections.

For repair and parts replacement, contact your local sales office.

App. 3.5.1 Inspection items

It is recommended that the following points periodically be checked.

(1) Check for loose screws on the protective earth (PE) terminal. Retighten any loose screws. (tightening torque: 1.2 N•m)

(2) Servo motor bearings, brake section, etc. for unusual noise.

(3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to operating conditions.

(4) Check that the connectors are securely connected to the servo motor.

(5) Check that the wires are not coming out from the connector.

(6) Check for dust accumulation on the servo amplifier.

(7) Check for unusual noise generated from the servo amplifier.

(8) Check the servo motor shaft and coupling for connection.

(9) Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

App. 3.5.2 Parts having service life

Service life of the following parts is listed below. However, the service life varies depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives. For parts replacement, please contact your local sales office.

Part name Life guideline

Smoothing capacitor

Relay

Cooling fan

Battery backup time (Note 1)

10 years (Note 3)

Number of power-on, forced stop, and controller forced stop times:

100,000 times

50,000 hours to 70,000 hours (7 years to 8 years)

Approximately 20,000 hours (equipment power supply: off, ambient temperature: 20 °C)

Battery life (Note 2) 5 years from date of manufacture

Note 1. The time is for using MR-BAT6V1SET-A. For details and other battery backup time, refer to each servo amplifier instruction manual.

2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the connection status.

3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation in air-conditioned environment (ambient temperature of 40 °C or less for use at the maximum 1000 m above sea level, 30 °C or less for over 1000 m to 2000 m).

App. - 12

APPENDIX

App. 3.6 Transportation and storage

CAUTION

Transport the products correctly according to their mass.

Stacking in excess of the limited number of product packages is not allowed.

For detailed information on the battery’s transportation and handing refer to app.

1 and app. 2.

Install the product in a load-bearing place of servo amplifier and servo motor in accordance with instruction manual.

Do not get on or put heavy load on the equipment.


When you keep or use it, please fulfill the following environment.

Item

Operation [°C]

Environment

0 to 55 Class 3K3 (IEC/EN 60721-3-3)

Ambient temperature

Transportation (Note) [°C]

Storage (Note) [°C]

-20 to 65 Class 2K4 (IEC/EN 60721-3-2)

-20 to 65 Class 1K4 (IEC/EN 60721-3-1)

Ambient humidity

Operation, transportation, storage

5 %RH to 90 %RH

Vibration resistance Operation

Transportation (Note)

Storage

Pollution degree

IP rating

Altitude

Test condition

Operation, storage

Transportation

Note. In regular transport packaging

10 Hz to 57 Hz with constant amplitude of 0.075 mm

57 Hz to 150 Hz with constant acceleration of 9.8 m/s 2 to IEC/EN 61800-5-1

(Test Fc of IEC 60068-2-6)

5.9 m/s 2

Class 2M3 (IEC/EN 60721-3-2)

Class 1M2 (IEC/EN 60721-3-2)

2

IP20 (IEC/EN 60529)

Open type (UL 50)

Max. 2000 m above sea level

Max. 10000 m above sea level

App. - 13

APPENDIX

App. 3.7 Technical data

App. 3.7.1 MR-JE servo amplifier

Power supply

Item

Line voltage

Interface (SELV)

Control method

Pollution degree

Overvoltage category

Protective class

MR-JE-10_/MR-JE-20_/MR-JE-40_/

MR-JE-70_/MR-JE-100_/MR-JE-200_

3-phase or

1-phase 200 V AC to 240 V AC, 50 Hz /60 Hz

MR-JE-300_

3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

24 V DC, (required current capacity: MR-JE-_A(S),

300 mA; MR-JE-_B, 300 mA; MR-JE-_C, 300 mA) (Note)

Sine-wave PWM control, current control method

2 (IEC/EN 60664-1)

1-phase 200 V AC: II (IEC/EN 60664-1), 3-phase 200 V AC: III (IEC/EN 60664-1)

I (IEC/EN 61800-5-1)

Short-circuit current rating (SCCR)

No

100 kA

This will be 100 mA for the MR-JE-_B servo amplifiers manufactured in April 2016 or before (May 2016 or before for amplifiers te. manufactured in China).

App. 3.7.2 Dimensions/mounting hole process drawing

H Front Side

Servo amplifier

MR-JE-10_/MR-JE-20_/MR-JE-40_

MR-JE-70_/MR-JE-100_

MR-JE-200_/MR-JE-300_

W

50

70

90

Variable dimensions [mm]

H

168

168

168

D

135

185

195

Mass [kg]

0.8

1.5

2.1

W D c b a1 e

Servo amplifier

MR-JE-10_/MR-JE-20_/MR-JE-40_

MR-JE-70_/MR-JE-100_

MR-JE-200_/MR-JE-300_ a

6

22

6

Variable dimensions [mm] a1 b c

6 156 ± 0.5 6

22 156 ± 0.5 6

45 156 ± 0.5 6 d

42 ± 0.3

78 ± 0.3

Screw size e

M5

M5

M5 c a d

App. - 14

APPENDIX

App. 4 Low voltage directive

MR-JE series servo amplifiers are certificated in compliance with Low voltage directive. The following shows a certificate by the Certification Body.

Supplementation: Refer to section 1.6 (2) for the models shown in "(see app. 1)".

App. - 15

APPENDIX

App. 5 When turning on or off the input power supply with DC power supply

App. 5.1 Connection example

For the signals or wiring that are not described in this section, refer to section 3.1.

OFF

ON

(Note 1)

3-phase

200 V AC to

240 V AC

(Note 3)

MCCB


Malfunction

RA1

MC

24 V DC (Note 2, 4)

MC (Note 6)

Servo amplifier

L1

L2

L3

Forced stop 2

(Note 5)

Power supply

Servo-on

CN3

EM2

SON

DICOM

24 V DC

MC

SK

Note 1. When using a power supply of 1-phase 200 V AC to 240 V AC for MR-JE-10C to MR-JE-100C, connect the power supply to L1 and L3. Leave L2 open. When using a power supply of 1-phase 200 V AC to 240 V AC for MR-JE-200C, connect the power supply to L1 and L2. Leave L3 open. MR-JE-300C cannot be used with 1-phase 200 V AC to 240 V AC power supply.

2. Do not use the 24 V DC interface power supply for magnetic contactor. Always use the power supply designed exclusively for the magnetic contactor.


4. Controlling the on switch or off switch with DC power supply satisfies the requirements of IEC/EN 60204-1.


6. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease. This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.

App. 5.2 Magnetic contactor

Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.

Servo amplifier Magnetic contactor

MR-JE-10C

MR-JE-20C

MR-JE-40C

MR-JE-70C

MR-JE-100C

MR-JE-200C

MR-JE-300C

SD-N11

SD-N21

App. - 16

APPENDIX

App. 6 Using the neutral point of a 3-phase 400 V AC class power supply for inputting a 1phase 200 V AC class power supply

CAUTION

Do not input a 3-phase 400 V AC class power supply directly to the 200 V class servo amplifier. Otherwise, it may cause a malfunction.

OFF

ON

MC


Malfunction

RA1

MC SK

3-phase

400 V AC class MCCB MC

Servo amplifier

CNP1

You can use the neutral point of a 3-phase 400 V AC class power supply to input a 1-phase 200 V AC class power supply to the servo amplifier.

If necessary, use a step-down transformer to decrease the power supply voltage to 200 V AC to 240 V AC.

(1) For MR-JE-10C to MR-JE-100C

OFF

ON

MC

Do not connect anything.


Malfunction

RA1 MC SK

3-phase

400 V AC class MCCB MC

Servo amplifier

CNP1 (Note 2)

L1

L2

L3

Neutral point

200 V AC to 240 V AC (Note 1)


Note 1. If necessary, use a step-down transformer to decrease the power supply voltage to 200 V AC to

240 V AC.

2. Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different from MR-JE-200C servo amplifier's.

App. - 17

APPENDIX

(2) For MR-JE-200C

3-phase

400 V AC class


MCCB

Neutral point

200 V AC to 240 V AC (Note 1)



OFF

Malfunction

RA1

ON

MC

MC CNP1 (Note 2)

L1

L2

L3

Servo amplifier

MC

SK

Note 1. If necessary, use a step-down transformer to decrease the power supply voltage to 200 V AC to

240 V AC.

2. Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L2. One of the connecting destinations is different from MR-JE-100C or less servo amplifier's.

App. - 18

APPENDIX

App. 7 Status of general-purpose AC servo products for compliance with the China RoHS directive

(1) Summary

The China RoHS directive: 电子信息产品污染控制管理办法 (Management Methods for Controlling

Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China RoHS directive: 电器电子产品有害物质限制使用管理办法

(Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and

Electronic Products). The succeeding China RoHS directive has been in effect since July 1, 2016.

The China RoHS directive restricts the use of six hazardous substances (lead, mercury, cadmium, hexavalent chromium, polybrominated biphenyls (PBB), and polybrominated diphenyl ethers (PBDE)) and other hazardous substances specified by the State (currently no applicable substances). The EU

RoHS directive (2011/65/EU) also restricts the use of the above six hazardous substances.

(2) Status of our products for compliance with the China RoHS directive

The following tables show the content of six hazardous substances in our products and Environment-

Friendly Use Period marks. Table app. 1 is created based on the standard SJ/T11364.

Table app. 1 Names and the content of hazardous substances in the products

Part name

Substance name

Threshold standard

Lead

(Pb)

Mercury

(Hg)

Hazardous substance (Note 1)

Cadmium

(Cd)

Hexavalent chromium

(Cr(VI))

PBB PBDE

Environment-

Friendly Use

Period mark

(Note 2)

Remark

Servo amplifier

Servo system controller

Servo motor

Mounting board

Heat sink

Resin cabinet

Plate and screw

Bracket

Mounting board

Threshold of cadmium: 0.01 wt% (100 ppm),

Threshold of substances other than cadmium: 0.1 wt% (1000 ppm)

Cable product

Resin cabinet

Core and cable

Cable

Connector

Including connector set

Optional unit Mounting board

Resin cabinet

Plate and screw

Note 1. : Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit requirement of GB/T26572.

: Indicates that said hazardous substance contained in at least one of the homogeneous materials for this part is above the limit requirement of GB/T26572.

2. Indications based on "Marking for the restriction of the use of hazardous substances in electrical and electronic product"

[SJ/T11364-2014]

Indicates that a certain hazardous substance is contained in the product manufactured or sold in China.

Observe safety and usage precautions for the product, and use it within a limited number of years from the production date. Thereby, any of the hazardous substances in the product does not cause environmental pollution, or seriously affect human health or property.

Indicates that no certain hazardous substance is contained in the product.

App. - 19

APPENDIX

(3) Difference between the China RoHS directive and the EU RoHS directive

The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked " ") in the China RoHS directive.

The following shows some restriction exemptions and their examples according to the EU RoHS directive.

Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to

0.35% lead by weight, lead as an alloying element in aluminum containing up to 0.4% lead by weight, and copper alloy containing up to 4% lead by weight, e.g. brass-made insert nuts

Lead in high melting temperature type solders (i.e. lead-based alloys containing 85% by weight or more lead)

Electrical and electronic components containing lead in a glass or ceramic other than dielectric ceramic in capacitors, e.g. piezoelectronic devices

Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip resistors

(4) Status of our products for compliance with the China RoHS directive (Chinese)

The following shows table app. 1 in Chinese according to "Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products".

表附.2 产品中所含有害物质的名称及含量

部件名称

物质名称

阈值

基准

铅

(Pb)

汞

(Hg)

有害物质 (注1)

镉

(Cd)

六价铬

(Cr(VI))

PBB

阈值：镉：0.01wt%(100ppm)、

镉以外：0.1wt%(1000ppm)、

PBDE

环境保护

使用期限标识

(注2)

伺服放大器

伺服系统

控制器

电路板组件

散热片

树脂壳体

金属板、螺丝

伺服电机托架

电路板组件

树脂壳体

铁心、电线

电缆

加工品

电线

连接器

选件电路板组件

模块树脂壳体

金属板、螺丝

注 1. : 表示该有害物质在该部件所有均质材料中的含量均在GB/T26572规定的限量要求以下。

备注

包括连接器组

件

: 表示该有害物质在该部件的至少一种均质材料中的含量超出GB/T26572规定的限量要求。

2. 根据“电子电气产品有害物质限制使用标识要求”、[SJ/T11364-2014]的表示

该标志表示在中国制造/销售的产品中含有特定有害物质。

只要遵守本产品的安全及使用方面的注意事项，从生产日算起的环保使用期限内不会造成环境污染或对人体、财

产产生深刻的影响。

该标志表示制造的产品中不含有特定有害物质。

App. - 20

REVISIONS

*The manual number is given on the bottom left of the back cover.

Revision Date *Manual Number Revision

Mar. 2017 SH(NA)030257ENG-A First edition

Aug. 2017 SH(NA)030257ENG-B MR-JE-200C and MR-JE-300C are added, and a maximum altitude of 2000 m above sea level is supported.

3. To prevent injury, note the following

Partially changed.

4. Additional instructions

(1) Transportation and Partially changed. installation

(2) Wiring Partially changed.

(3) Test run and adjustment Partially changed.

(4) Usage

(5) Corrective actions

Section 1.2

Section 1.3

Section 1.4

Section 1.5

Section 1.6 (2)

Section 1.7.1

Partially changed.

Partially changed.

Partially changed. (2) is added.

Partially added and partially changed.

Partially added.


Partially added.


Section 1.8

Section 2.6

Section 3.1

Section 3.3.1

Section 3.3.3 (1)

Section 3.3.3 (2)

Section 4.1.2 (1) (c)

Section 4.5


Newly added.

Partially changed. (3) and (4) are added.


Partially changed. (b) is added.

Partially changed.

Partially changed. 2) is added.

POINT is partially changed.

Section 4.5.3

Chapter 5

Section 5.2.1

Section 5.2.2

Chapter 6

Section 9.1 (3)

Section 10.2 (1)

Section 10.3

Section 10.5

Section 11.1.1

Section 11.1.3

Section 11.2.2 (2)

Section 11.2.3

Section 11.2.4

Section 11.2.5

Section 11.4

Section 11.4.2

Section 11.5.2 (3)

Section 11.6

Section 11.7

Section 11.8

Section 11.11

Section 11.12

Section 12.3

App. 1 (3) (b)

App. 3

Partially changed.

POINT is partially added.

[Pr. PA02] is partially changed.

[Pr. PB07], [Pr. PB19], [Pr. PB20], [Pr. PB52], [Pr. PB53], [Pr.

PB54], and [Pr. PB55] are partially changed.

POINT is partially added.

Newly added.

Partially added.


Partially added.



Partially added.

Partially added.




Partially changed. (2) (b) is added.

Partially added.


Partially added.

Partially added.

Partially added.

Partially added.


The diagram is added.

Partially changed.

Revision Date *Manual Number Revision

Aug. 2017 SH(NA)030257ENG-B App. 6

App. 6.2

App. 7

Oct. 2018

Partially changed.

Partially added.


SH(NA)030257ENG-C Positioning operation and Modbus RTU are supported.

About the manuals Partially changed.

Section 1.1

Section 1.2

Partially changed.

Partially changed.

Section 1.3

Section 1.5

Section 1.7.1

Section 1.8

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Section 3.2.1

Section 3.2.2

Section 3.2.3

Section 3.3.1

Section 3.4

Section 3.7

Section 3.7.1

Section 3.7.2

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Section 3.7.3

Section 3.9.1

Section 3.10.1

Section 3.10.2

Section 4.1.1

Section 4.5

Section 4.5.1

Section 4.5.3

Section 4.7

Section 5.1.1

Section 5.1.3

Section 5.1.6

Section 5.1.7

Section 5.2.1

Section 5.2.2

Section 5.2.3

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Newly added.

Partially changed.

Partially changed.

Partially changed.

Section 5.2.6

Section 6.2

Section 6.2.3

Section 8.2

Section 8.3

Section 10.5

Section 11.1.1

Section 11.2.2

Section 11.4

Section 11.4.1

Section 11.8

Section 12.3.1

Section 12.3.2

App. 3.1.2

App. 3.1.3

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.

Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

 2017 MITSUBISHI ELECTRIC CORPORATION

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.

Microsoft, Windows, Internet Explorer, and Windows Vista are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.

Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan.

All other product names and company names are trademarks or registered trademarks of their respective companies.

Warranty

1. Warranty period and coverage

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval

(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company

(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The announcement of the stop of production for each model can be seen in our Sales and Service, etc.

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product

(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used

In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.

We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

SH(NA)030257ENG-C

MODEL

MODEL

CODE

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH(NA)030257ENG-C(1810)MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications are subject to change without notice.

General-Purpose AC Servo

Ethernet Interface

MODEL

MR-JE-_C

SERVO AMPLIFIER

INSTRUCTION MANUAL

C

Mitsubishi Electric MR-JE-_C SERVO AMPLIFIER Instruction Manual

General-Purpose AC Servo

Ethernet Interface

MODEL

MR-JE-_C

SERVO AMPLIFIER

INSTRUCTION MANUAL

1. To prevent electric shock, note the following

2. To prevent fire, note the following

3. To prevent injury, note the following

4. Additional instructions

(1) Transportation and installation

(2) Wiring

(3) Test run and adjustment

(4) Usage

(5) Corrective actions

(6) Maintenance, inspection and parts replacement

(7) General instruction

EEP-ROM life

Compliance with global standards

1. FUNCTIONS AND CONFIGURATION

CAUTION

2. INSTALLATION

3. SIGNALS AND WIRING

4. STARTUP

5. PARAMETERS

CAUTION

8. TROUBLESHOOTING

9. DIMENSIONS

10. CHARACTERISTICS

CAUTION

11. OPTIONS AND PERIPHERAL EQUIPMENT

2CR17335A WK17

6V 1650mAh

12. ABSOLUTE POSITION DETECTION SYSTEM

CAUTION

1

APPENDIX

App. 1 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

App. 2 Symbol for the new EU Battery Directive

App. 3 Compliance with global standards

App. 4 Low voltage directive

App. 5 When turning on or off the input power supply with DC power supply

App. 6 Using the neutral point of a 3-phase 400 V AC class power supply for inputting a 1phase 200 V AC class power supply

App. 7 Status of general-purpose AC servo products for compliance with the China RoHS directive

General-Purpose AC Servo

Ethernet Interface

MODEL

MR-JE-_C

SERVO AMPLIFIER

INSTRUCTION MANUAL

Key Features

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Frequently Answers and Questions

Does the MR-JE-_C support absolute encoders?

What is the maximum output current of the MR-JE-_C?

Can the MR-JE-_C be used in a closed-loop system?

What is the power supply voltage range for the MR-JE-_C?

Does the MR-JE-_C have a built-in brake?