Mitsubishi Electric MELSERVO-JE MR-JE-70A, MELSERVO-JE MR-JE-10A, MELSERVO-JE MR-JE-100A, MELSERVO-JE MR-JE-300A Instruction Manual

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General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-JE-_A

MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL

SERVO AMPLIFIER INSTRUCTION MANUAL

A - 1

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 - 2

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. When using an earth-leakage current breaker (RCD), select the type B. 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 a fire. Always connect a magnetic contactor between the power supply and the power supply (L1, L2, and 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. When using the regenerative resistor, switch power off with the alarm signal. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor. When you use a regenerative option with an MR-JE-40A to MR-JE-100A, 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. Always connect a molded-case circuit breaker to the power supply of the servo amplifier.

3. To prevent injury, note the following

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, 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 power is on or for some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the parts (cables, etc.) by hand.

A - 3

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, 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 wire of the regenerative resistor when transporting the servo amplifier. 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 equipment. 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 strike the servo amplifier and servo motor. Isolate them from all impact loads. When you keep or use the equipment, please fulfill the following environment.

Item Environment

Operation 0 ˚C to 55 ˚C (non-freezing)

Ambient

temperature

Storage -20 ˚C to 65 ˚C (non-freezing)

Operation

Ambient humidity

Storage

90 %RH or less (non-condensing)

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

Altitude 1000 m or less above sea level

Vibration resistance 5.9 m/s2, 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.

A - 4

(2) Wiring

CAUTION

Before removing the CNP1 connector of MR-JE-40A to MR-JE-100A, 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. 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, and W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo motor

Servo amplifier

Servo motorServo amplifier

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.

DOCOM

Control output signal

Servo amplifier

For sink output interface

24 V DC

DOCOM

Control output signal

24 V DC

Servo amplifie

For source output interface

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.

(3) Test run and adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to operate unexpectedly. Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not get close to moving parts during the servo-on status.

A - 5

(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. Do not disassemble, repair, or modify the equipment. 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. 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 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.

(5) Corrective actions

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 electromagnetic brake or external brake to prevent the condition. Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.

Servo motor

Electromagnetic brake

Contacts must be opened with the EMG stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

24 V DC

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a malfunction, it is recommend that the electrolytic capacitor be replaced every 10 years when it is used in general environment. For replacement, please contact your local sales office.

A - 6

(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.

DISPOSAL OF WASTE

Please dispose a servo amplifier 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

Refer to appendix 2 for the compliance with global standard.

«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 Manual No.

MELSERVO-JE Series Instructions and Cautions for Safe Use of AC Servos (packed with the servo amplifier)

IB(NA)0300194

MELSERVO HF-KN/HF-SN Servo Motor Instruction Manual SH(NA)030123

EMC Installation Guidelines IB(NA)67310

«Cables used for wiring»

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

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-12

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- 5

1.6 Model designation............................................................................................................................. 1- 7

1.7 Structure ........................................................................................................................................... 1- 8

1.7.1 Parts identification ...................................................................................................................... 1- 8

1.8 Configuration including peripheral equipment ................................................................................. 1-10

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 lives ................................................................................................................. 2- 5

3. SIGNALS AND WIRING 3- 1 to 3-62

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

3.2 I/O signal connection example.......................................................................................................... 3- 6

3.2.1 Position control mode................................................................................................................. 3- 6

3.2.2 Speed control mode .................................................................................................................. 3-11

3.2.3 Torque control mode ................................................................................................................. 3-13

3.3 Explanation of power supply system ............................................................................................... 3-15

3.3.1 Signal explanations ................................................................................................................... 3-15

3.3.2 Power-on sequence.................................................................................................................. 3-16

3.3.3 Wiring CNP1 and CNP2............................................................................................................ 3-17

3.4 Connectors and pin assignment ...................................................................................................... 3-19

3.5 Signal (device) explanations............................................................................................................ 3-21

3.6 Detailed explanation of signals ........................................................................................................ 3-29

3.6.1 Position control mode................................................................................................................ 3-29

3.6.2 Speed control mode .................................................................................................................. 3-34

3.6.3 Torque control mode ................................................................................................................. 3-36

3.6.4 Position/speed control switching mode.....................................................................................3-39

3.6.5 Speed/torque control switching mode.......................................................................................3-41

3.6.6 Torque/position control switching mode....................................................................................3-43

3.7 Forced stop deceleration function ................................................................................................... 3-44

3.7.1 Forced stop deceleration function ............................................................................................. 3-44

3.7.2 Base circuit shut-off delay time function ................................................................................... 3-46

3.7.3 Vertical axis freefall prevention function ................................................................................... 3-47

3.7.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-47

3.8 Alarm occurrence timing chart ......................................................................................................... 3-48

3.8.1 When you use the forced stop deceleration function................................................................ 3-48

3.8.2 When you do not use the forced stop deceleration function..................................................... 3-49

3.9 Interfaces ......................................................................................................................................... 3-50

3.9.1 Internal connection diagram...................................................................................................... 3-50

3.9.2 Detailed explanation of interfaces ............................................................................................. 3-52

3.9.3 Source I/O interfaces ................................................................................................................ 3-56

3.10 Servo motor with an electromagnetic brake ..................................................................................3-57

3.10.1 Safety precautions .................................................................................................................. 3-57

3.10.2 Timing chart............................................................................................................................ 3-58

3.11 Grounding ...................................................................................................................................... 3-61

4. STARTUP 4- 1 to 4-36

4.1 Switching power on for the first time................................................................................................. 4- 1

4.1.1 Startup procedure ...................................................................................................................... 4- 1

4.1.2 Wiring check............................................................................................................................... 4- 2

4.1.3 Surrounding environment........................................................................................................... 4- 3

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

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

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

4.2.3 Test operation............................................................................................................................ 4- 5

4.2.4 Parameter setting ....................................................................................................................... 4- 6

4.2.5 Actual operation ......................................................................................................................... 4- 6

4.2.6 Trouble at start-up ...................................................................................................................... 4- 7

4.3 Startup in speed control mode.......................................................................................................... 4- 9

4.3.1 Power on and off procedures ..................................................................................................... 4- 9

4.3.2 Stop ............................................................................................................................................ 4- 9

4.3.3 Test operation........................................................................................................................... 4-10

4.3.4 Parameter setting ...................................................................................................................... 4-11

4.3.5 Actual operation ........................................................................................................................ 4-12

4.3.6 Trouble at start-up ..................................................................................................................... 4-12

4.4 Startup in torque control mode ........................................................................................................ 4-13

4.4.1 Power on and off procedures .................................................................................................... 4-13

4.4.2 Stop ........................................................................................................................................... 4-13

4.4.3 Test operation........................................................................................................................... 4-14

4.4.4 Parameter setting ...................................................................................................................... 4-15

4.4.5 Actual operation ........................................................................................................................ 4-15

4.4.6 Trouble at start-up ..................................................................................................................... 4-16

4.5 Display and operation sections........................................................................................................ 4-17

4.5.1 Summary ................................................................................................................................... 4-17

4.5.2 Display flowchart ....................................................................................................................... 4-18

4.5.3 Status display mode .................................................................................................................. 4-19

4.5.4 Diagnostic mode ....................................................................................................................... 4-23

4.5.5 Alarm mode ............................................................................................................................... 4-25

4.5.6 Parameter mode ....................................................................................................................... 4-26

4.5.7 External I/O signal display......................................................................................................... 4-28

4.5.8 Output signal (DO) forced output .............................................................................................. 4-31

4.5.9 Test operation mode ................................................................................................................. 4-32

5. PARAMETERS 5- 1 to 5-44

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

5.1.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5- 1

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

5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 3

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

5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 5- 6

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 5- 7

5.2 Detailed list of parameters ................................................................................................................ 5- 8

5.2.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5- 8

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-17

5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-28

5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-38

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 5-42

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])........................................................................... 5-43

6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-24

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- 3

6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 5

6.2.3 Caution for one-touch tuning..................................................................................................... 6-13

6.3 Auto tuning ....................................................................................................................................... 6-14

6.3.1 Auto tuning mode ...................................................................................................................... 6-14

6.3.2 Auto tuning mode basis............................................................................................................. 6-15

6.3.3 Adjustment procedure by auto tuning .......................................................................................6-16

6.3.4 Response level setting in auto tuning mode ............................................................................. 6-17

6.4 Manual mode ................................................................................................................................... 6-18

6.5 2 gain adjustment mode .................................................................................................................. 6-22

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-26

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- 6

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

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

7.1.6 Command notch filter ................................................................................................................ 7-12

7.2 Gain switching function .................................................................................................................... 7-13

7.2.1 Applications ............................................................................................................................... 7-13

7.2.2 Function block diagram ............................................................................................................. 7-14

7.2.3 Parameter.................................................................................................................................. 7-15

7.2.4 Gain switching procedure ......................................................................................................... 7-17

7.3 Tough drive function ........................................................................................................................ 7-20

7.3.1 Vibration tough drive function.................................................................................................... 7-20

7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-22

8. TROUBLESHOOTING 8- 1 to 8-28

8.1 Alarm and warning list ...................................................................................................................... 8- 1

8.2 Remedies for alarms......................................................................................................................... 8- 6

8.3 Remedies for warnings .................................................................................................................... 8-24

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- 3

10.3 Dynamic brake characteristics...................................................................................................... 10- 5

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- 7

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

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-30

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

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

11.2 Regenerative option...................................................................................................................... 11- 4

11.2.1 Combination and regenerative power .................................................................................... 11- 4

11.2.2 Selection of regenerative option ............................................................................................ 11- 5

11.2.3 Parameter setting ................................................................................................................... 11- 6

11.2.4 Selection of regenerative option ............................................................................................ 11- 7

11.2.5 Dimensions ........................................................................................................................... 11-10

11.3 Junction terminal block MR-TB50................................................................................................ 11-12

11.4 MR Configurator2 ........................................................................................................................ 11-14

11.5 Selection example of wires .......................................................................................................... 11-16

11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended)............................... 11-17

11.7 Power factor improving AC reactor.............................................................................................. 11-17

11.8 Relay (recommended) ................................................................................................................. 11-18

11.9 Noise reduction techniques ......................................................................................................... 11-19

11.10 Earth-leakage current breaker ................................................................................................... 11-25

11.11 EMC filter (recommended) ........................................................................................................ 11-27

APPENDIX App. - 1 to App. -13

App. 1 Peripheral equipment manufacturer (for reference).............................................................. App.- 1

App. 2 Compliance with global standards ........................................................................................ App.- 1

App. 3 Analog monitor .....................................................................................................................App.-10

App. 4 Low-voltage directive ...........................................................................................................App.-13

1. FUNCTIONS AND CONFIGURATION

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

The Mitsubishi 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. 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 incremental encoder whose resolution is 131072 pulses/rev will enable a high-accuracy positioning.

1. FUNCTIONS AND CONFIGURATION

1 - 2

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-JE-100A or less

Model position

Current

control

Actual

position

control

Actual speed

control

Virtual

motor

Virtual

encoder

Encoder

(Note 2) Power supply

MCMCCB

Position

command

input

Model speed Model torque

CN2

Model

position

control

Model speed

control

Servo motor

CN3

Analog monitor

(two channel)

I/F

USBA/D D/A

USB

Personal

computer

Analog

(two channel)

CN1

U U

Dynamic

brake circuit

Current

detection

Overcurrent

protection

Voltage

detection

Base

amplifier

Diode

stack

Relay

P+

(Note 1)

24 V DC

Control

circuit power

CHARGE

lamp

Regenerative TR

Current

encoder

Regenerative

option

Electromagnetic brake

DI/O control

Servo-on Input command pulse. Start Malfunction, etc

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

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. FUNCTIONS AND CONFIGURATION

1 - 3

(2) MR-JE-200A or more

MCMCCB

Servo motor

CN3

I/F

USBA/D D/A

USB

CN1

U U

24 V DC

CN2

N- (Note 2)CDP+

Cooling fan

(Note 1) Power supply

Dynamic

brake circuit

Diode

stack

Relay

CHARGE

lamp

Regenerative TR

Current

encoder

Regenerative

option

Encoder

Current

detection

Overcurrent

protection

Voltage

detection

Base

amplifier

Control

circuit power

Electromagnetic brake

Model position

Current

control

Actual

position

control

Actual speed

control

Virtual

motor

Virtual

encoder

Position

command

input

Model speed Model torque

Model

position

control

Model speed

control

Analog monitor

(two channel)

Personal

computer

Analog

(two channel)

DI/O control

Servo-on Input command pulse. Start Malfunction, etc

Note 1. For the power supply specifications, refer to section 1.3.

2. This is for manufacturer adjustment. Leave this open.

1. FUNCTIONS AND CONFIGURATION

1 - 4

1.3 Servo amplifier standard specifications

Model: MR-JE- 10A 20A 40A 70A 100A 200A 300A

Rated voltage 3-phase 170 V AC

Output

Rated current [A] 1.1 1.5 2.8 5.8 6.0 11.0 11.0

Voltage/Frequency

3-phase or 1-phase 200 V AC to 240 V AC, 50

Hz/60 Hz

3-phase 200 V AC to 240 V AC, 50

Hz/60 Hz Rated current [A] 0.9 1.5 2.6 3.8 5.0 10.5 14.0 Permissible voltage

fluctuation

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

Permissible frequency fluctuation

Within ±5%

Power supply capacity

[kVA]

Refer to section 10.2.

Power supply input

Inrush current [A] Refer to section 10.5. Voltage 24 V DC ± 10%

Interface power supply

Current capacity [A] (Note 1) 0.3

Control method Sine-wave PWM control, current control method Dynamic brake Built-in Communication function USB: Connection to a personal computer or others (MR Configurator2-compatible) Encoder output pulses Compatible (A/B/Z-phase pulse) Analog monitor Two channels

Max. input pulse frequency

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

Positioning feedback pulse

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

Command pulse multiplying factor

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

In-position range setting

0 pulse to ±65535 pulses (command pulse unit)

Error excessive ±3 revolutions

Position control mode

Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque) Speed control range Analog speed command 1: 2000, internal speed command 1: 5000 Analog speed

command input

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

Speed fluctuation ratio

±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

Speed control mode

Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque) Analog torque

command input

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

Torque control mode

Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)

Protective functions

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

CE marking

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

Compliance to global standards

UL standard UL 508C

Structure (IP rating) Natural cooling, open (IP20)

Force cooling, open

(IP20)

Close mounting (Note 2) Possible

Operation 0 ˚C to 55 ˚C (non-freezing)

Ambient temperature

Storage -20 ˚C to 65 ˚C (non-freezing)

Operation

Ambient humidity

Storage

90 %RH or less (non-condensing)

Ambience

Indoors (no direct sunlight),

free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 1000 m or less above sea level

Environment

Vibration resistance 5.9 m/s

, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

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 of 3.5 kW or less, operate them at the ambient temperatures 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].

1. FUNCTIONS AND CONFIGURATION

1 - 5

1.4 Combinations of servo amplifiers and servo motors

Servo amplifier Servo motor

MR-JE-10A HF-KN13

MR-JE-20A HF-KN23

MR-JE-40A HF-KN43

MR-JE-70A HF-KN73

HF-SN52

MR-JE-100A HF-SN102

MR-JE-200A HF-SN152, HF-SN202

MR-JE-300A HF-SN302

1.5 Function list

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

Function Description

Detailed

explanation

Position control mode This servo is used as a position control servo.

Section 3.2.1 Section 3.6.1 Section 4.2

Speed control mode This servo is used as a speed control servo.

Section 3.2.2 Section 3.6.2 Section 4.3

Torque control mode This servo is used as a torque control servo.

Section 3.2.3 Section 3.6.3 Section 4.4

Position/speed control switch mode

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

Section 3.6.4

Speed/torque control switch mode

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

Section 3.6.5

Torque/position control switch mode

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

Section 3.6.6

High-resolution encoder

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

Gain switching function

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

Section 7.2

Advanced vibration suppression control II

This function suppresses vibration at the arm end or residual vibration. Section 7.1.5

Adaptive filter II

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

Section 7.1.2

Low-pass filter

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

Section 7.1.4

Machine analyzer function

Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and servo amplifier. MR Configurator2 is necessary for this function.

Robust filter

This function provides better disturbance response in case low response level that load to motor inertia ratio is high for such as roll send axes.

[Pr. PE41]

Slight vibration suppression control

Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]

Electronic gear Input pulses can be multiplied by 1/10 to 4000.

[Pr. PA06] [Pr. PA07]

S-pattern acceleration/deceleration time constant

Speed can be increased and decreased smoothly. [Pr. PC03]

Auto tuning

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

Section 6.3

Regenerative option

Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

Section 11.2

1. FUNCTIONS AND CONFIGURATION

1 - 6

Function Description

Detailed

explanation

Alarm history clear Alarm history is cleared. [Pr. PC18]

Output signal selection (device settings)

ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and other input device can be assigned to any pins.

[Pr. PD03] to [Pr. PD20]

Output signal selection (device settings)

The output devices including MBR (Electromagnetic brake interlock) can be assigned to certain pins of the CN1 connector.

[Pr. PD24] to [Pr. PD28]

Output signal (DO) forced output

Output signal can be forced on/off independently of the servo status. Use this function for checking output signal wiring, etc.

Section 4.5.8

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

Torque limit Servo motor torque can be limited to any value.

Section 3.6.1 (5) [Pr. PA11] [Pr. PA12]

Speed limit Servo motor speed can be limited to any value.

Section 3.6.3 (3) [Pr. PC05] to [Pr. PC11]

Status display Servo status is shown on the 5-digit, 7-segment LED display. Section 4.5.3

External I/O signal display On/off statuses of external I/O signals are shown on the display. Section 4.5.7

Automatic VC offset

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

Section 4.5.4

Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code. Chapter 8

Test operation mode

Jog operation, positioning operation, motor-less operation, DO forced output, and program operation MR Configurator2 is required for the positioning operation and program operation.

Section 4.5.9

Analog monitor output Servo status is outputted in terms of voltage in real time.

[Pr. PC14], [Pr. PC15]

MR Configurator2

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

Section 11.4

One-touch tuning

Gain adjustment is performed just by one click on a certain button on MR Configurator2 or operation section.

Section 6.2

Tough drive function

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.

Section 7.3

Drive recorder function

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 on the drive recorder window on MR Configurator2 by clicking the "Graph" button. However, the drive recorder will not operate on the following conditions.

1. You are using the graph function of MR Configurator2.

2. You are using the machine analyzer function.

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

[Pr. PA23]

Servo amplifier life diagnosis function

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 Configurator2 is necessary for this function.

Power monitoring function

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.

Machine diagnosis function

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. MR Configurator2 is necessary for this function.

1. FUNCTIONS AND CONFIGURATION

1 - 7

1.6 Model designation

(1) Rating plate

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

Serial numbe

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

KCC-REI-MEK-TC300A745G51 DATE: 2013-05

MR-JE-10A

AC SERVO

SER. S33001001

POWER INPUT OUTPUT STD.: IEC/EN61800-5-1 MAN. : IB(NA)0300194 Max. Surrounding Air Temp. : 55°C IP20

: 100W : 3AC/AC200-240V 0.9A/1.5A 50/60Hz : 3PH170V 0-360Hz 1.1A

TOKYO 100-8310, JAPAN MADE IN JAPAN

(2) Model

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

Series

Rated output

General-purpose interface

Symbol Rated output [kW]

10 0.1 20 0.2 40 0.4

70 0.75 100 1 200 2 300 3

1. FUNCTIONS AND CONFIGURATION

1 - 8

1.7 Structure

1.7.1 Parts identification

(1) MR-JE-100A or less

No. Name/Application

Detailed

explanati

(1)

Display The 5-digit, 7-segment LED shows the servo status and the alarm number.

Section

4.5

(2)

Operation section Used to perform status display, diagnostic, alarm, and parameter setting operations. Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode.

Used to change the mode.

Used to change the display or data in each mode.

Used to set data.

To the one-touch tuning mode

Section

4.5

Section

6.2

(3)

USB communication connector (CN3) Connect with the personal computer.

Section

11.4

(4)

I/O signal connector (CN1) Digital I/O signal, analog input signal, and analog monitor output are connected.

Section

3.2

Section

3.4

(5)

Encoder connector (CN2) Used to connect the servo motor encoder.

Section

3.4

(6)

Power connector (CNP1) Input power supply, built-in regenerative resistor, regenerative option, and servo motor are connected.

Section

3.1

Section

3.3

Rating plate Section

1.6

(8)

Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.

(1)

(2)

(7)

(3)

(4)

(5)

(8)

(6)

(9)

Bottom

Side

(9)

Protective earth (PE) terminal Grounding terminal

Section

3.1

Section

3.3

1. FUNCTIONS AND CONFIGURATION

1 - 9

(2) MR-JE-200A or more

No. Name/Application

Detailed

explanati

(1)

Display The 5-digit, 7-segment LED shows the servo status and the alarm number.

Section

4.5

(2)

Used to change the mode.

Used to change the display or data in each mode.

Used to set data.

To the one-touch tuning mode

Section

4.5

Section

6.2

(3)

USB communication connector (CN3) Connect with the personal computer.

Section

11.4

(4)

I/O signal connector (CN1) Digital I/O signal, analog input signal, and analog monitor output are connected.

Section

3.2

Section

3.4

(5)

Encoder connector (CN2) Used to connect the servo motor encoder.

Section

3.4

(6)

Power connector (CNP1) Input power supply and regenerative option are connected.

Section

3.1

Section

3.3

(7)

Rating plate Section

1.6

(8)

Servo motor power connector (CNP2) Connect the servo motor.

Section

3.1

Section

3.3

(9)

Charge lamp When the main circuit is charged, this will light up. While this lamp is lit, do not reconnect the cables.

(1)

(2)

(6)

(7)

(8)

(9)

(10)

Bottom

Side

(4)

(5)

(3)

(10)

Protective earth (PE) terminal Grounding terminal

Section

3.1

Section

3.3

1. FUNCTIONS AND CONFIGURATION

1 - 10

1.8 Configuration including peripheral equipment

CAUTION

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

POINT

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

(1) MR-JE-100A or less

The diagram shows MR-JE-10A.

Power factor improving AC reactor (FR-HAL)

Line noise filter (FR-BSF01)

CN3

Servo motor

Personal computer

MR Configurator2

CN1

CN2

(Note 2) Magnetic contactor (MC)

Molded-case circuit breaker

RST

Junction terminal block

(Note 1) Power supply

Note 1. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-JE-70A or less. 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. FUNCTIONS AND CONFIGURATION

1 - 11

(2) MR-JE-200A or more

The diagram shows MR-JE-200A.

Power factor improving AC reactor (FR-HAL)

Line noise filter (FR-BSF01)

CN3

Personal computer

MR Configurator2

CN1

CN2

(Note 2) Magnetic contactor (MC)

Molded-case circuit breaker

RS T

Junction terminal block

(Note 1) Power supply

Servo motor

Note 1. 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. FUNCTIONS AND CONFIGURATION

1 - 12

MEMO

2. INSTALLATION

2 - 1

2. INSTALLATION

WARNING

To prevent electric shock, ground each equipment securely.

CAUTION

Stacking in excess of the specified number of product packages is not allowed. Do not hold the lead wire of the regenerative resistor when transporting the servo amplifier. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to 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 equipment. 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 strike the servo amplifier. Isolate it from all impact loads. 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. INSTALLATION

2 - 2

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-40A to MR-JE-100A 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

40 mm or more

10 mm or more

40 mm or more

Servo amplifier

Cabinet Cabinet

Wiring allowance

80 mm or more

Top

Bottom

2. INSTALLATION

2 - 3

(b) Installation of two or more servo amplifiers

POINT

Close mounting is possible for all capacity type of MR-JE servo amplifiers.

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.

100 mm or more

10 mm or more

30 mm or more

40 mm or more

Cabinet

Top

Bottom

100 mm or more

1 mm

30 mm or more

40 mm or more

Cabinet

1 mm

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. INSTALLATION

2 - 4

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 sheath 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.

2. INSTALLATION

2 - 5

2.5 Parts having service lives

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

Part name Life guideline

Smoothing capacitor 10 years

Relay

Number of power-on and forced stop times

by EM1 (Forced stop 1): 100,000 times

Cooling fan

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 (40 ˚C surrounding air temperature 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 and number of forced stop times by EM1 (Forced stop 1) 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. It must also be changed if unusual noise or vibration is found during inspection. The life indicates under the yearly average ambient temperature of 40 ˚C, free from corrosive gas, flammable gas, oil mist, dust and dirt.

2. INSTALLATION

2 - 6

MEMO

3. SIGNALS AND WIRING

3 - 1

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. Ground the servo amplifier and servo motor securely. 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-40A to MR-JE-100A, 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.

DOCOM

Control output signal

Servo amplifier

For sink output interface

24 V DC

DOCOM

Control output signal

24 V DC

Servo amplifie

For source output interface

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

Servo motor

Servo amplifier

Servo motorServo amplifier

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

3. SIGNALS AND WIRING

3 - 2

3.1 Input power supply circuit

CAUTION

Always connect a magnetic contactor between the power supply and the power supply (L1, L2, and 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-40A to MR-JE-100A, 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 noise and to suppress lightning surge. The varistor can break down due to its aged deterioration. To prevent a fire, use a molded-case circuit breaker or fuse for input power supply. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

POINT

EM2 has the same function as EM1 in the torque control mode. 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-E Super Series Servo Amplifier's. When using MR-JE as a replacement for MR-E Super, be careful not to connect the power to L2.

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 main circuit power supply.

3. SIGNALS AND WIRING

3 - 3

(1) For 3-phase 200 V AC to 240 V AC power supply of MR-JE-10A to MR-JE-100A

(Note 5)

ALM

DOCOM

CN1

(Note 3)

24 V DC (Note 8)

Malfunction

RA1

3-phase 200 V AC to 240 V AC

Servo amplifier

(Note 1)

CNP1

Servo motor

Motor

Encoder

CN2

(Note 2)

Encoder cable

(Note 4, 7)

RA1

Malfunction

OFF

EMG stop switch

CN1

Forced stop 2

Servo-on

(Note 3)

EM2

SON

DICOM

(Note 6)

Power supply

MCCB

(Note 7)

P+

Built-in

regenerative

resistor

Note 1. MR-JE-40A to MR-JE-100A 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 "HF-KN/HF-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 "HF-KN/HF-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. SIGNALS AND WIRING

3 - 4

(2) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-10A to MR-JE-70A

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-E Super Series Servo Amplifier's. When using MR-JE as a replacement for MR-E Super, be careful not to connect the power to L2.

(Note 5)

ALM

DOCOM

CN1

(Note 3)

24 V DC (Note 8)

Malfunction

RA1

1-phase 200 V AC to 240 V AC

Servo amplifier

(Note 1)

CNP1

Servo motor

Motor

Encoder

CN2

(Note 2)

Encoder cable

(Note 4, 7)

CN1

Forced stop 2

Servo-on

(Note 3)

EM2

SON

DICOM

(Note 6)

Power supply

MCCB

(Note 7)

P+

Built-in

regenerative

resistor

RA1

OFF

EMG stop switch

Malfunction

Note 1. MR-JE-40A and MR-JE-70A have a built-in regenerative resistor. (factory-wired) When using the regenerative option,