Mitsubishi Electronics MR-E- A-AG User Manual

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General-Purpose AC Servo

MODEL

MR-E- A/AG

INSTRUCTION MANUAL

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, ope rate, maint ain or inspect the servo amplif ier and servo m otor until you hav e read through this I nstruction M anual, Insta llation guid e, Servo motor Instructio n Manual and appen ded docum ents carefully and can us e th e equ i pment correctly. D o no t us e t he s er vo amplifier and servo motor un ti l 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".

Indicates that incorrect handling may cause hazardous conditions,

WARNING CAUTION

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:

resulting in death or severe injury.

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

: Indicates what must not be done. For example, "No Fire" is indicated by : Indicates what must be done . F o r exa mple , grou nd ing is in di cat ed 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 installation guide, always keep it accessible to the operator.

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1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage

is safe with voltage tester. Otherwise, you may get an electric shock.

Connect the serv o a mpl i fie r and se rvo mot o r to grou nd . 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, you

may get an electric shock.

Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged , stressed, loaded, or pinched. Othe rwi se, you may get an ele ctric shoc k.

2. To prevent fire, note the following:

CAUTION

Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.

Otherwise a fire may cause.

When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous

flow of a large current may cause a fire.

When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a

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

3. To prevent injury, note the follow

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a

burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. Their temperatures may be high and you may get burnt or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

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4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their weights.

Stacking in excess of the specified number of products is not allowed.

Do not carry the servo motor by the cables, shaft or encoder.

Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.

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

Do not climb or stand on servo equipment. Do not put heavy objects on equipment.

The servo amplifier and servo motor must be installed in the specified direction.

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

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

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

Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.

Use the servo amplifier and servo motor under the following environmental conditions:

Environment

Ambient temperature

Ambient humidity 90%RH or less (non-condensing) 80%RH or less (non-condensing) Storage

temperature Storage humidity 90%RH or less (non-condensing) Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level

(Note) Vibration

Note: Except the servo motor with reduction gear.

[ ]0 to 55 (non-freezing) 0 to 40 (non-freezing) [

] 32 to 131 (non-freezing) 32 to 104 (non-freezing)

[ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)

] 4 to 149 (non-freezing) 5 to 158 (non-freezing)

[

[m/s2] 5.9 or less

[ft/s

] 19.4 or less

Servo amplifier Servo motor

Conditions

HC-KFE Series X Y : 49

HC-SFE52 to 152 X Y : 24.5

HC-SFE202

HC-KFE Series X Y : 161

HC-SFE52 to 152 X Y : 80

HC-SFE202

X : 24.5 Y : 49

X : 80 Y : 161

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation.

The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.

Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

When the equipment has been stored for an extended period of time, consult Mitsubishi.

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(2) Wiring

CAUTION

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

Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier.

Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.

The surge absorbi ng diode in stal le d on th e D C out pu t si gnal r el ay must be wi red in th e spe ci fie d di re ctio n . Otherwise, the emergency stop and other protective circuits may not operate.

Servo Amplifier

Control output

signal

External

24VDC

Servo Amplifier

Control output

signal

External

24VDC

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation.

The parameter settings must not be changed excessively. Operation will be insatiable.

(4) Usage

CAUTION

Provide an exter nal emergenc y stop c ircuit to ensure that oper ation c an be sto pped an d power s witched off immediately.

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

Before resettin g an alarm , make sure th at the run s igna l is of f to pr event an acc ident. A sudde n rest art is made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minim i ze the inf lue nce of electr om agne tic int erfer enc e, wh ich m ay b e ca use d b y electronic equipment used near the servo amplifier.

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 reas ons as servic e life and mec hanical struc ture (e.g. wher e a ballscrew and the s ervo motor are coupled via a tim ing belt), the electrom agnetic brak e may not ho ld the m otor shaf t. To ensur e safe ty, install a stoppe r on the machin e si de.

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(5) Corrective actions

CAUTION

When it is ass umed that a ha zardous con dition ma y take place at t he occur due to a power f ailure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prev en ti on .

Configure th e electromagnet ic brake circu it so that it is activated n ot only by the servo am plifier sign als but also by an external emergency stop signal (EMG).

Contacts must be open when servo-on signal is off, when an alarm (trouble) is present and when an electromagnetic brake signal.

Circuit must be opened during emergency stop signal.

Servo motor

Electromagnetic brake

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

When power is restor ed after an inst antaneous power failure, keep awa y from the m achine bec ause the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

EMGRA

24VDC

(6) Storage for servo motor

CAUTION

Note the follo wing points whe n storing th e servo motor for an exten ded period of time (guide line: three or more months).

Always store the servo motor indoors in a clean and dry place.

If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.

If the insulation resistance of the winding decreases, reexamine the storage method.

Though the servo motor is rust-proofed befor e shipment using paint or rust preven tion oil, rust ma y be

produced depending on the storage conditions or storage period.

If the servo motor is to be stored for longer than six months, apply rust prevention oil again especially to

the machined surfaces of the shaft, etc.

Before using the pr oduct after st orage for an exte nded peri od of tim e, h and- turn the m otor out put s haf t to

confirm that not hing is wrong with the ser vo motor. (When the servo m otor is equipped with a br ake,

make the above check after releasing the brake with the brake power supply.)

(7) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative.

(8) 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.

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About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area).

FOR MAXIMUM SAFETY

This product is not designed or manufactured to be used in equipment or systems in situations that can

affect or enda nge r hu man li fe . When considering this product for operation in special applications such as machinery or systems used in

passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating

applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised

to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the

product is likely to cause a serious accident.

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 and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-R OM du e to pa ra met er se t ting ch an ge s

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COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRE C TIVES ?

The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,

1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE mar king). CE marking applies to machines and equipment into which servo amplifiers have been installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and

equipment. This requires the EMC filters to be used with the servo-incorporated machines and

equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to

the EMC Installation Guidelines (IB(NA)67310).

(2) Low voltage di re ctiv e

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with

the low voltage directive.

(3) Machine directive

Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE (1) Servo amplifiers and servo motors used (Acquisition schedule)

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-E-10A to MR-E-200A Servo motor :HC-KFE

HC-SFE

(2) Configuration

Control box

Reinforced insulating type

Reinforced insulating transformer

No-fuse breaker

NFB

Magnetic contactor

24VDC power supply

Servo amplifier

Servo motor

Use the no-fuse breaker and magnetic contactor which conform to the EN or IEC Standard.

Design notice: Where residual-current-operated protective device (RCD) is used for protection case of

direvt or indirect contact, only RCD of type B is allowed on the supply side of this Electronic

Equipment(EE).

(3) Environment

Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. For this

purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,

dirt, etc. (IP54).

(4) Power supply

(a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in

IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN Standard should be used in the power input section.

(b) As the external power supply for interface, use a 24VDC power supply that has been insulation-

reinforced in I/O.

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(5) Grounding

(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked

servo amplifier to the protective earth (PE) of the control box. Connect PE terminal of the control box to the NEUTRAL of a power supply. Be sure to ground the NEUTRAL of a power supply.

(b) Do not co nnect two g round c ables to the same pro tective e arth (PE) terminal. Always c onnect the

cables to the terminals one-to-one.

PE terminals PE terminals

of the servo amplifier must be c onne ct ed t o t h e c orr es pondi n g eart h te rmi nal s.

) of the

(6) Wiring

(a) The cables to be connected to the terminal block of the servo amplifier must have crimping

terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) Use the servo motor side power connector which complies with the EN Standard. The EN

Standard-compliant power connector sets are available from us as options. (Refer to Section 13 .1.2)

(7) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant

products of the models described in Section 13.2.2.

(b) The sizes of the cable s described in Section 13.2. 1 meet the following req uirements. To meet t he

other requirements, follow Table 5 and Appendix C in EN60204-1.

Ambient tempera t ur e: 40 (104 ) [ ( )] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray

(8) Performing EMC tests

When EMC tests are ru n on a machine/device into which the servo amplifier has been installed, it

must conform to the electromagnetic compatibility (immunity/emission) standards after it has

satisfied the operating environment/electrical equipment specificati ons.

For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation

Guidelines(IB(NA)67310).

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CONFORMANCE WITH UL/C-UL STANDARD

(1) Servo amplifiers and servo motors used (Acquisition schedule)

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-E-10A to MR-E-200A Servo motor :HC-KFE

HC-SFE

(2) Installation

Install a fan of 100CFM (2.8 m

cooling of at least equivalent capability.

(3) Short circuit rating

This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having

been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo

amplifier conforms to the above circuit.

(4) Capacitor discharge time

The capacitor disc har ge tim e is a s listed belo w. To ensu re safety , do no t touch th e ch arg ing sec tion for

10 minutes after power-off.

/min) air flow 4 in (10.16 cm) above the servo amplifier or provide

Servo amplifier

MR-E-10A 20A 1

MR-E-40A 2

MR-E-70A to 200A 3

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

(6) About wiring protection

For installation in United States , branch circuit protecti on 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.

<<About the manual s>>

Relevant manuals

MR-E Series To Use the AC Servo Safely IB(NA)0300057 EMC Installation Guidelines IB(NA)67310

Discharge time

[min]

Manual name Manual No.

A - 9

MEMO

A - 10

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10

1.1 Introduction.............................................................................................................................................. 1- 1

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

1.3 Servo amplifier standard specifications................................................................................................1- 3

1.4 Function list.............................................................................................................. ...............................1- 4

1.5 Model code definition ..............................................................................................................................1- 6

1.6 Combination with servo motor............................................................................................... ................1- 6

1.7 Parts identification..................................................................................................................................1- 7

1.8 Servo system with auxiliary equipment................................................................................................1- 9

2. INSTALLATION 2- 1 to 2- 4

2.1 Environmental conditions.......................................................................................................................2- 1

2.2 Installation direction and clearances ....................................................................................................2- 2

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

2.4 Cable stress..............................................................................................................................................2- 3

3. SIGNALS AND WIRING 3- 1 to 3- 48

3.1 Standard connection example ................................................................................................................3- 2

3.1.1 Position control mode .......................................................................................................................3- 2

3.1.2 Internal speed control mode ............................................................................................................3- 8

3.2 Internal connection diagram of servo amplifier ...................................................................................3- 9

3.3 I/O signals................................................................................................................................................3-10

3.3.1 Connectors and signal arrangements............................................................................................3-10

3.3.2 Signal explanations .........................................................................................................................3-13

3.4 Detailed description of the signals........................................................................................................3-19

3.4.1 Position control mode ......................................................................................................................3-19

3.4.2 Internal speed control mode ...........................................................................................................3-24

3.4.3 Position/internal speed control change mode................................................................................3-26

3.5 Alarm occurrence timing chart .............................................................................................................3-28

3.6 Interfaces.................................................................................................................................................3-29

3.6.1 Common line ....................................................................................................................................3-29

3.6.2 Detailed description of the interfaces............................................................................................3-30

3.7 Input power supply circuit.....................................................................................................................3-34

3.7.1 Connection example.........................................................................................................................3-34

3.7.2 Terminals..........................................................................................................................................3-35

3.7.3 Power-on sequence...........................................................................................................................3-36

3.8 Connection of servo amplifier and servo motor...................................................................................3-37

3.8.1 Connection instructions ..................................................................................................................3-37

3.8.2 Connection diagram.........................................................................................................................3-37

3.8.3 I/O terminals....................................................................................................................................3-39

3.9 Servo motor with electromagnetic brake .............................................................................................3-41

3.10 Grounding .............................................................................................................................................3-44

3.11 Servo amplifier connectors (CNP1, CNP2) wiring method

(When MR-ECPN1-B and MR-ECPN2-B of an option are used.)...................................................3-45

3.12 Instructions for the 3M connector.......................................................................................................3-48

4. OPERATION 4- 1 to 4- 6

4.1 When switching power on for the first time..........................................................................................4- 1

4.2 Startup......................................................................................................................................................4- 2

4.2.1 Selection of control mode..................................................................................................................4- 2

4.2.2 Position control mode .......................................................................................................................4- 2

4.2.3 Internal speed control mode ............................................................................................................4- 4

5. PARAMETERS 5- 1 to 5- 30

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

5.1.1 Parameter write inhibit ...................................................................................................................5- 1

5.1.2 Lists....................................................................................................................................................5- 2

5.2 Detailed description ...............................................................................................................................5-25

5.2.1 Electronic gear .................................................................................................................................5-25

5.2.2 Analog monitor.................................................................................................................................5-26

5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern..............................5-29

5.2.4 Alarm history clear..........................................................................................................................5-29

5.2.5 Position smoothing ..........................................................................................................................5-30

6. DISPLAY AND OPERATION 6- 1 to 6-14

6.1 Display flowchart..................................................................................................................................... 6- 1

6.2 Status display ..........................................................................................................................................6- 2

6.2.1 Display examples.............................................................................................................................. 6- 2

6.2.2 Status display list.............................................................................................................................6- 3

6.2.3 Changing the status display screen................................................................................................6- 4

6.3 Diagnostic mode.......................................................................................................................................6- 5

6.4 Alarm mode..............................................................................................................................................6- 6

6.5 Parameter mode ......................................................................................................................................6- 7

6.6 External I/O signal display.....................................................................................................................6- 8

6.7 Output signal (DO) forced output .........................................................................................................6-10

6.8 Test operation mode...............................................................................................................................6-11

6.8.1 Mode change.....................................................................................................................................6-11

6.8.2 Jog operation....................................................................................................................................6-12

6.8.3 Positioning operation.......................................................................................................................6-13

6.8.4 Motor-less operation........................................................................................................................6-14

7. GENERAL GAIN ADJUSTMENT 7- 1 to 7-10

7.1 Different adjustment methods ...............................................................................................................7- 1

7.1.1 Adjustment on a single servo amplifier..........................................................................................7- 1

7.1.2 Adjustment using servo configuration software............................................................................7- 2

7.2 Auto tuning ..............................................................................................................................................7- 3

7.2.1 Auto tuning mode .............................................................................................................................7- 3

7.2.2 Auto tuning mode operation............................................................................................................7- 4

7.2.3 Adjustment procedure by auto tuning............................................................................................7- 5

7.2.4 Response level setting in auto tuning mode...................................................................................7- 6

7.3 Manual mode 1 (simple manual adjustment).......................................................................................7- 7

7.3.1 Operation of manual mode 1 ...........................................................................................................7- 7

7.3.2 Adjustment by manual mode 1 .......................................................................................................7- 7

7.4 Interpolation mode .................................................................................................................................7-10

8. SPECIAL ADJUSTMENT FUNCTIONS 8- 1 to 8-10

8.1 Function block diagram ..........................................................................................................................8- 1

8.2 Machine resonance suppression filter ...................................................................................................8- 1

8.3 Adaptive vibration suppression control.................................................................................................8- 3

8.4 Low-pass filter .........................................................................................................................................8- 4

8.5 Gain changing function...........................................................................................................................8- 5

8.5.1 Applications....................................................................................................................................... 8- 5

8.5.2 Function block diagram....................................................................................................................8- 5

8.5.3 Parameters........................................................................................................................................8- 6

8.5.4 Gain changing operation..................................................................................................................8- 8

9. INSPECTION 9- 1 to 9- 2

10. TROUBLESHOOTING 10- 1 to 10-12

10.1 Trouble at start-up ..............................................................................................................................10- 1

10.1.1 Position control mode...................................................................................................................10- 1

10.1.2 Internal speed control mode ........................................................................................................10- 4

10.2 When alarm or warning has occurred...............................................................................................10- 5

10.2.1 Alarms and warning list ..............................................................................................................10- 5

10.2.2 Remedies for alarms.....................................................................................................................10- 6

10.2.3 Remedies for warnings................................................................................................................10-11

11. OUTLINE DIMENSION DRAWINGS 11- 1 to 11- 8

11.1 Servo amplifiers...................................................................................................................................11- 1

11.2 Connectors............................................................................................................................................11- 5

12. CHARACTERISTICS 12- 1 to 12- 4

12.1 Overload protection characteristics...................................................................................................12- 1

12.2 Power supply equipment capacity and generated loss ....................................................................12- 1

12.3 Dynamic brake characteristics...........................................................................................................12- 3

12.4 Encoder cable flexing life....................................................................................................................12- 4

13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-32

13.1 Options..................................................................................................................................................13- 1

13.1.1 Regenerative brake options.........................................................................................................13- 1

13.1.2 Cables and connectors..................................................................................................................13- 6

13.1.3 Analog monitor, RS-232C branch cable (MR-E3CBL15-P).....................................................13-19

13.1.4 Servo configurations software....................................................................................................13-20

13.2 Auxiliary equipment ..........................................................................................................................13-21

13.2.1 Recommended wires....................................................................................................................13-21

13.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................13-23

13.2.3 Power factor improving reactors................................................................................................13-23

13.2.4 Relays............................................................................................................................................13-24

13.2.5 Surge absorbers ...........................................................................................................................13-24

13.2.6 Noise reduction techniques.........................................................................................................13-24

13.2.7 Leakage current breaker.............................................................................................................13-30

13.2.8 EMC filter.....................................................................................................................................13-32

14. SERVO MOTOR 14- 1 to 14- 38

14.1 Compliance with the overseas standards..........................................................................................14- 1

14.1.1 Compliance with EC directives...................................................................................................14- 1

14.1.2 Conformance with UL/C-UL standard.......................................................................................14- 1

14.2 Model name make-up..........................................................................................................................14- 2

14.3 Parts identification..............................................................................................................................14- 4

14.4 Installation...........................................................................................................................................14- 5

14.4.1 Environmental conditions............................................................................................................14- 6

14.4.2 Installation orientation................................................................................................................14- 6

14.4.3 Load mounting precautions.........................................................................................................14- 7

14.4.4 Permissible load for the shaft......................................................................................................14- 8

14.4.5 Protection from oil and water.....................................................................................................14-11

14.4.6 Cable .............................................................................................................................................14-12

14.5 Connectors used for servo motor wiring...........................................................................................14-13

14.5.1 HC-KFE series.............................................................................................................................14-13

14.5.2 HC-SFE series..............................................................................................................................14-13

14.6 Specifications......................................................................................................................................14-19

14.6.1 Standard specifications...............................................................................................................14-19

14.6.2 Torque characteristics.................................................................................................................14-21

14.6.3 Servo motors with reduction gears............................................................................................14-22

14.6.4 Servo motors with special shafts................................................................................................14-25

14.6.5 D cut..............................................................................................................................................14-25

14.7 Characteristics....................................................................................................................................14-26

14.7.1 Electromagnetic brake characteristics......................................................................................14-26

14.7.2 Vibration rank..............................................................................................................................14-28

14.7.3 Machine Accuracies.....................................................................................................................14-28

14.8 Outline dimension drawing...............................................................................................................14-29

14.8.1 HC-KFE series.............................................................................................................................14-29

14.8.2 HC-SFE series..............................................................................................................................14-32

14.9 Outline dimension drawing (in inches) ............................................................................................14-34

14.9.1 HC-KFE series.............................................................................................................................14-34

14.9.2 HC-SFE series..............................................................................................................................14-37

15. MR-E-

15.1. Functions and configuration..............................................................................................................15- 1

15.1.1 Introduction...................................................................................................................................15- 1

15.1.2 Function block diagram ...............................................................................................................15- 2

15.1.3 Servo amplifier standard specifications.....................................................................................15- 3

15.1.4 Model code definition....................................................................................................................15- 4

15.1.5 Parts identification.......................................................................................................................15- 4

15.1.6 Servo system with auxiliary equipment.....................................................................................15- 6

15.2. Signals and wiring..............................................................................................................................15- 8

15.2.1 Standard connection example .....................................................................................................15- 8

15.2.2 Internal connection diagram of servo amplifier .......................................................................15-11

15.2.3 Connectors and signal arrangements........................................................................................15-12

15.2.4 Signal explanations.....................................................................................................................15-14

15.2.5 Detailed description of the signals.............................................................................................15-18

15.3 Startup.................................................................................................................................................15-25

15.3.1 Speed control mode......................................................................................................................15-25

15.3.2 Torque control mode....................................................................................................................15-27

15.4 Parameters..........................................................................................................................................15-29

15.4.1 Item list.........................................................................................................................................15-29

15.4.2 Details list ....................................................................................................................................15-32

15.5 Display and operation........................................................................................................................15-51

15.5.1 Display flowchart.........................................................................................................................15-51

15.5.2 Status display...............................................................................................................................15-53

15.5.3 Diagnostic mode...........................................................................................................................15-55

15.5.4 External I/O signal display.........................................................................................................15-57

15.6. Troubleshooting.................................................................................................................................15-59

15.6.1 Trouble at start-up ......................................................................................................................15-59

15.6.2 Alarms and warning list .............................................................................................................15-61

AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT 15- 1 to 15- 62

MEMO

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi MR-E series general-purpose AC servo is based on the MR-J2-Super series, and has the same high performance and limited functions. It has position control and internal speed control modes. Further, it can perform operation with the control modes changed, e.g. position/internal speed control. Hence, it is applicable to a wide range of fields, precision positioning and smooth speed control of machine tools and general industrial machines. As this new series has the RS-232C or RS-422 serial communication function, a servo configuration software-installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc. With real-time auto tuning, you can automatically adjust the servo gains according to the machine. The MR-E series servo motor is equipped with an incremental position encoder that has the resolution of 10000 pulses/rev to ensure high precision positioning.

(1) Position control mode

An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 10000 pulses/rev resolution. The position smoothing function provides a choice of two different modes appropriate for a machine, so a smoother start/stop can be made in response to a sudden position command. A torque lim it is imposed on th e se rv o amp l if ier by the clamp circuit to p ro te c t the powe r transisto r in the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque limit value can be changed to any value with the parameter.

(2) Internal spee d co nt rol mode

The parameter-driven internal speed command (max. 7 speeds) is used to control the speed and direction of a servo motor smoothly. There are also the acceleration/deceleration time constant setting in response to speed command, the servo lock function at a stop time.

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

Regenerative brake option

(Note 3)

(Note 2)

Power supply 3-phase 200 to 230VAC, 1-phase 230VAC

(Note 3)

NFB MC

Servo amplifier

Regene rative br ake

RADS

Regenerative TR

CHARGE

Fan

(MR-E-200A only)

Control

power

supply

Base amplifier

lamp

(Note 1)

Voltage

detection

Current

detector

Overcurrent

protection

Dynamic

brake

Current

detection

(Note 3)

U V W

(Note 3)

CN2

Servo motor

U V W

E1 E2

Encoder

Electromagnetic brake

Pulse

input

Model position

control

Model speed

control

Virtual

encoder

Virtual

motor

Model position

Actual position

control

Model speed

Actual speed

control

Model torque

Current

control

RS-232C D/A

I/F

CN1

(Note 3)(Note 3)

CN3

Analog monitor (2 channels)

D I/O control Servo on Start Failure, etc.

Controller

RS-232C

Note:1. The built-in regenerative brake resistor is not provided for the MR-E-10A/20A.

2. The single-phase 230VAC can be used for MR-E-70A or smaller servo amplifier.

Connect the power supply cables to L

and L2 while leaving L3 open.

3. The control circuit connectors (CN1, CN2 and CN3) are safely isolated from main circuit terminals

, L2, L3, U, V, W, P, C and D).

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Servo Amplifier

MR-E-

Item

Voltage/frequency

Permissible voltage fluctuation

Power supply

Permissible frequency fluctuation Within 5%

Power supply capacity Refer to Section12.2 System Sine-wave PWM control, curr ent control system Dynamic brake Built-in

Protective functions

Max. input pulse frequency 500kpps (for differential receiver), 200kpps (for open collector)

Command pulse multiplying factor Electronic gear A:1 to 65535 B:1 to 65535, 1/50 A/B 50

10A 20A 40A 70A 100A 200A

3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 50/60Hz 3-phase 200 to 230VAC: 170 to 253VAC 1-phase 230VAC: 207 to 253VAC

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), encoder error protection, regenerative brake error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection

3-phase 200 to 230VAC, 50/60Hz

3-phase 170 to 253VAC

In-position range setting 0 to 10000 pulse (command pulse unit)

Error excessive 10 revolutions

Position control mode

Torque limit Set by pa rameter setting

Speed control range Internal speed command 1: 5000

Speed fluctuation ratio

control mode

Torque limit Set by pa rameter setting

Internal speed

Structure Self-cooled, open (I P00 )

Ambient temperature

Ambient humidity

Ambient

Environment

Altitude Max. 1000m (3280ft) above sea level Vibration

Weight

Operation

Storage Operation

Storage

[ ]0 to 55 (non-freezing) [

] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) [

] 4 to 149 (non-freezing)

90%RH or less ( non - condensing) Indoors (no dir ect su nl i gh t )

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

5.9 [m/s2] or less

19.4 [ft/s

[kg] 0.8 0.8 1.2 1.8 1.8 2.0

[lb] 1.8 1.8 2.6 4.0 4.0 4.4

] or less

0.01% or less (load fluctuation 0 to 100%) 0% or less (power fluctuation

10%)

Force-cooling,

open (IP00)

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the corresponding chapters and sections.

Function Description

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

Internal speed control mod e This servo is used as internal spe ed cont rol servo. S

Position/internal speed control change mode

High-resolut ion encoder

Gain changing function

Adaptive vibration suppression control

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function Slight vibration suppression

control Electronic gear Input pulses can be multiplied by 1/50 to 50. P

Auto tuning Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No. 7

S-pattern acceleration/ deceleration time constant

Regenerative brake option

Using external input signal, control can be switched between position control and internal speed control. High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder. You can switch between gains during rotation and gains during stop or use an external input signal to change gains during operation. Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting a servo configuration softwareinstalled personal computer and servo amplifier. Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. Personal computer changes gains automatically and searches for overshoot-free gains in a short time. Suppresses vibration of 1 pulse produced at a servo motor stop.

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

Speed can be increased and decreased smoothly. S Parameter No. 13 Used when the built-in regenerative brake resistor of the

servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

(Note)

Control mode

Section 3.1.1 Section 3.4.1 Section 4.2.2 Section 3.1.2 Section 3.4.2 Section 4.2.3

P/S Section 3.4.4

P, S, T

P, S Section 8.5

P, S Section 8.3

P, S Section 8.4

P Parameter No. 20

Parameters No. 3, 4, 69 to 71

P, S Chapter 7

P, S Section 13.1.1

Refer to

1 - 4

1. FUNCTIONS AND CONFIGURATION

Function Description

Alarm history cl ea r Alarm history is cl eared. P, S Parameter No. 16 Restart after instantaneous

power failure

Command pulse selection

Input signal selection

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

Status display

External I/O signal display

Output signal (DO) forced output

Test operati on mode Analog monitor output Servo status is output in terms of voltage in real time. P, S Parameter No. 17 Servo configurati on sof t wa re

Alarm code output

Note:P: Position control mode, S: Internal speed control mode

P/S: Position/internal speed control change mode

If the input power supply vol tage had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal. Command pulse train form can be selected from among four different types. Forward rotation start, reverse rotation start, servo-on and other input signals can be assigned to any pins.

Servo status is shown on the 5-digit, 7-segment LED display ON/OFF statuses of external I/O signals are shown on the display. Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc. Servo motor can be run from the operation section of the servo amplifier without the start signal entered.

Using a personal computer, parameter setting, test operation, status display, etc. can be performed. If an alarm has occurred, the corresponding alarm number is output in 3-bit code.

(Note)

Control mode

S Parameter No. 20

P Parameter No. 21

P, S

P, S Section 6.2

P, S Section 6.6

P, S Section 6.7

P, S Section 6.8

P, S Section 13.1.8

P, S Section 10.2.1

Refer to

Parameters No. 43 to 48 Section 3.4.1 (5) Parameter No. 28

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition (1) Rating plate

MITSUBISHI

MODEL

POWER INPUT

OUTPUT SERIAL

(2) Model

- AMR - E

Series

Rated output

Symbol

10 20 40 40 0

General-purpose interface

Rated output [W]

100 200

1.6 Combination with servo motor

MR-E-40A

:400W

:2.6A 3PH200-230V 50Hz

:2.6A3PH200-230V 60Hz

: :170V 0-360Hz 2.8A

:XXXXYYYYY :TCXXXAYYYGZZ

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

Symbol

70 100 200 2000

Rated output [W]

750

1000

AC SERVO

PASSED

Model Capacity

Applicable power supply

Rated output current Serial number

Rating plate Rating plate

MR-E-200AMR-E-40A or less M R-E-70A, 100A

Rating plate

The following table li sts comb ina tio n s of se rvo ampl if iers and servo mo to rs. T he sa me comb in a t ion s ap ply to the models with electromagnetic brakes and the models with reduction gears.

Servo motors

Servo amplifier

MR-E-10A 13 MR-E-20A 23 MR-E-40A 43

MR-E-70A 73 52 MR-E-100A 102 MR-E-200A 152 202

HC-KFE

HC-SFE 2000r/min

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.7 Parts identification (1) MR-E-100A or less

MODE

MITSUBISHI

MR-

CN3

CN1

CN2

CNP2

SET

Name/Application

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

Operation section Used to perform status display, diagnostic, alarm and parameter setting operations.

MODE

Communication connector (CN3) Used to connect a command device (RS-232C) and output analog monitor data.

I/O signal connector (CN1) Used t o connect dig ital I/O signals.

DOWN

SET

Used to set data.

Used to change the display or data in each mode.

Used to change the mode.

Refer to

Chapter6

Section3.3

Section13.1.2

Chapter14

Section3.3

CNP1

CHARGE

L3L2L1 D C P W V U

Encoder connector ( C N2 ) Connector for connection of the servo motor encoder.

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Motor power supply connector (CNP2) Used to connect the servo mo tor.

Power supply/regenerative connector (CNP1) Used to connect the input power supply and regenerative brake option.

Protective earth (PE) terminal ( ) Ground terminal.

Section3.3

Section13.1.2

Section3.7

Section11.1

Section3.7

Section11.1

Section13.1.1

Section3.10 Section11.1

1 - 7

1. FUNCTIONS AND CONFIGURATION

(2) MR-E-200A

Name/Application

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

Operation section Used to perform status display, diagnostic, alarm and parameter setting operations.

DOWN

MODE

Communication connector (CN3) Used to connect a command device (RS232C) and output analog monitor data.

I/O signal connector (CN1) Used to connect digital I/O signals.

SET

Used to set data.

Used to change the display or data in each mode.

Used to change the mode.

Refer to

Chapter6

Section3.3

Section13.1.2

Chapter14

Section3.3

Cooling fan

Installation notch (4 places)

Name plate

Encoder connector (C N2) Connector for connection of the servo motor encoder.

Power supply/regenerative connector (CNP1) Used to connect the input power supply and regenerative brake option.

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Protective earth (PE) terminal ( ) Ground terminal.

Motor power supply connector (CNP2) Used to connect the servo motor.

Section1.5

Section3.3

Section13.1.2

Section3.7

Section11.1

Section13.1.1

Section3.10 Section11.1

Section3.7

Section11.1

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliar y equipm ent To prevent an electric shock, always connect the protective earth (PE) terminal

WARNING

(1) MR-E-100A or less

(Note 2) 3-phase 200V to 230VAC power supply or 1-phase 230VAC power supply

No-fus e breaker (NFB) or fuse

(terminal m ar ked box.

Options and auxiliary equipment

No-fuse breaker Magnetic contactor Servo configuration software

) of the servo amplifier to the prot ecti ve earth (P E) of the contr ol

Refer to

Section 13.2.2 Section 13.2.2 Section 13.1.4

Options and auxiliary equipment

Regenera tive option Cables Power factor improving reactor

Refer to

Section 13.1.1 Section 13.2.1 Section 13.2.3

Magnetic contactor (MC)

Power factor improving reactor (FR-BAL)

Protective earth (PE) terminal

Servo amplifier

MODE

MITSUBISHI MR-E-

CN3

CN1

CN2

CNP2

CNP1

L3L2L1 D C P W V U

SET

To CN3

To CN1

To CN2

CHARGE

Personal computer

Command device

(Note 1) Power supply lead

Servo configuration software MRZJW3-SETUP1

(Note 1) Encoder cable

Regenerative option

Servo motor

Note: 1. The HC-SFE series have cannon connectors.

2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-E-70A or less. Connect the power supply to L

and L2 terminals and leave L3 open.

1 - 9

1. FUNCTIONS AND CONFIGURATION

(2) MR-E-200A

3-phase 200V to 230VAC power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power

actor improving reactor (FR-BAL)

Options and auxiliary equipment No-fuse breaker Magnetic contactor Servo configuration software

Servo amplifier

MODE

MITSUBIS HI

DC L3PL1L2

EZMotion

CNP1

SET

CN3

CN1

CN2

Refer to Section 13.2.2 Section 13.2.2

Section 13.1.4

To CN3

To CN1

To CN2

Options and auxiliary equipment Regene rative option

Refer to

Section 13.1.1 Cables Section 13.2.1 Power factor improving reactor

Section 13.2.3

Servo configuration software MRZJW3-SETUP1

Personal computer

Command device

Regene rative option

CHARGE

UVW

To CNP2

CNP2

1 - 10

2. INSTALLATION

CAUTION

Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to

combustibles will led to a fire.

Install the equipment in a load-bearing place in accordance with this Instruction

Manual.

Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.

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

Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur.

Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment.

Do not install or operate a faulty servo amplifier.

When the product has been stored for an extended period of time, consult Mitsubishi.

2.1 Environmental con dit ions

Environment Conditions

Ambient temperature

Ambient humidity

Ambience Altitude Max. 1000m (3280 ft) above sea level Vibration

Operation

Storage

Operation Storage

[ ]0 to 55 (non-freezing) [

] 32 to 131 (non-freezing)

[ ] 20 to 65 (non-freezing)

] 4 to 149 (non-freezing)

[

90%RH or less (non-condensing)

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

[m/s2] 5.9 [m/s2] or less

] 19.4 [ft/s2] or less

[ft/s

2 - 1

2. INSTALLATION

2.2 Installation direction and clearances The equipment mus t be installe d in the specif ied direc tion. Other wise, a fau lt ma y

CAUTION

(1) Installation of one servo amplifier

Control box Control box

10mm (0.4 in.) or more

MODE

MITSUBISHI MR-

occur.

Leave specified clearances between the servo amplifier and control box inside

walls or other equipment.

40mm (1.6 in.) or more

Servo amplifier

SET

CN3

CN1

CN2

CNP2

CNP1

L3L2 L1 D C P W V U

40mm (1.6 in.) or more

CHARGE

10mm (0.4 in.) or more

Wiring clearance

(2.8 in.)

70mm

Top

Bottom

(2) Installation of two or more servo amplifiers

Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

Control box

30mm (1.2 in.) or more

100mm (4.0 in.) or more

MODE

CN3

MITSUBISHI MR-

CN1

CN2

CNP2

CNP1

40mm (1.6 in.) or more

SET

L3L2 L1 D C P W V U

CHARGE

10mm (0.4 in.) or more

MODE

CN3

MITSUBISHI MR-

CN1

CN2

CNP2

CNP1

SET

30mm (1.2 in.) or more

CHARGE

L3L2 L1 D C P W V U

2 - 2

2. INSTALLATION

(3) Others

When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.

2.3 Keep out foreign materials

(1) When installin g the unit in a control box, prevent drill ch ips and wire fragmen ts from entering the

servo amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control

box or a fan installed on the ceiling.

(3) When insta lling the co ntrol box in a place whe re there are much toxic g as, dirt and dust, conduct an

air purge (force clean air into the contro l box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box.

2.4 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing 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, brake)

supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing li fe of the cabl es.

(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 will move, the flexing radius should be made as

large as possible. Refer to section 12.4 for the flexing life.

2 - 3

2. INSTALLATION

MEMO

2 - 4

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 10 minutes, and

after the charge lamp has gone off, make sure that the voltage is safe in the tester or like. Otherwise, you may get an electric shock.

WARNING

Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been

installed. Otherwise, you may get an electric shock.

The cables should not be damaged, stressed excessively, loaded heavily, or

pinched. Otherwise, you may get an electric shock.

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

misoperate, resulting in injury.

Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay designed for control output

should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the emergency stop and other protective circuits.

Servo Amplifier

External

24VDC

Servo Amplifier

External

24VDC

CAUTION

Control output signal

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

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

Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF

option) with the power line of the servo motor.

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

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

Do not modify the equipment.

3 - 1

3. SIGNALS AND WIRING

3.1 Standard connection example

POINT

Refer to Section 3.7.1 for the connection of the power supply system and to Section 3.8 for connection with the servo motor.

3.1.1 Position control mode

(1) FX-10GM

Positioni n g modu l e

FX-10GM

PGO

FPO

FP RP

RPO

CLR

STOP

ZRN

FWD

RVS

DOG

LSF

LSR

2 12 11 14 13

7,17 8,18

9,19

16 15

9,19

SVRDY

COM2 COM2

SVEND

COM4

COM5

COM3

START

COM1

(Note 3, 5) Emergency stop

Servo-on Reset

(Note 5) Forward rotation stroke end

Reverse rotation stroke end

(Note 9) 2m(6.5ft) max.

10m(32ft) max.

RD VIN INP

VIN OP LG

OPC

VIN PP

SG NP

CR SG SD

EMG SON RES

LSP

LSN

Servo amplifier

(Note 8)

CN1

1 21 14

1 23

13 25

5 13

(Note 8)

Plate

(Note 8)

CN1

7 13

(Note 8)

CN1

1VIN

9 12 13 SG

CN1

15 16 17 18 19 20

Plate

CN3

Plate

ALM ZSP

LAR

LBR

LZR

MO1

MO2

(Note2, 4)

RA1 RA2

2m (6.5ft) max.

Trouble (Note 6)

Zero speed

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Encoder Z-phase pulse (differential line driver)

(Note 7)

10k

Monitor output Max. 1mA Reading in both

10k

directions

(Note 11)

External

power supply

24VDC

(Note 10) Servo configuration software

Personal computer

(Note 7) Communication cable

3 - 2

(Note 8) CN3

(Note 1)

3. SIGNALS AND WIRING

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (t erminal mark ed ) of the servo amplifier to

the protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

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

4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external. (Refer to Section 3.6.2)

5. When starting operation, always connect the emergency stop signal (EMG) and forward/ reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)

6. Trouble (ALM) is connected with COM in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output of the controller should be stopped by the sequence program.

7. When connecting the personal computer together with monitor outputs 1, 2, use the branch cable (MR-E3CBL15-P). (Refer to Section 13.1.3)

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

9. This length applies to the command pulse train input in the opencollector system. It is 10m (32ft) or less in the differential line driver system.

10. Use MRZJW3-SETUP 154E.

11. Connect the external 24VDC power supply if the output signals are not used.

3 - 3

3. SIGNALS AND WIRING

(2) AD75P (A 1SD75P )

Positioning module

AD75P

(A1SD75P )

READY

COM INPS

PGO(24V)

PGO(5V)

PGO COM

CLEAR

CLEAR COM

PULSE FPULSE F+ PULSE R-

PULSE R+

PULSE F

PULSE COM

PULSE R

PULSE COM

DOG

FLS RLS

STOP

CHG

START

COM COM

6 24 25

5 23 21

3 22

1 19

2 20 11 12 13 14 15 16 35 36

(Note 9) 10m(32ft) max.

(Note 11)

24VDC

RD VIN INP

LZR

CR SG PG

PP NG NP

LG SD

Servo amplifier

(Note 8)

CN1

19 20

5 13 22 23 24 25 14

Plate

(Note 8)

CN1

1VIN

9 12 13 SG

(Note 8)

CN1

15 16 17 18 14 21

Plate

ALM ZSP

LAR

LBR

(Note 2, 4)

RA1

RA2

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common Encoder Z-phase pulse

(open collector)

Trouble

(Note 6)

Zero speed

(Note 12)

External

power

supply

24VDC

(Note 3, 5) Emergency stop

Servo-on Reset

(Note 5) Forward rotation stroke end

Reverse rotation stroke end

(Note 10) Servo configuration software

Personal computer

(Note 7) Communication cable

EMG SON RES

LSP

LSN

(Note 8)

CN1

8 4 3 6 7

(Note 8)

CN3

(Note 8)

CN3

Plate

MO1

MO2

(Note 1)

2m(6.5ft) max.

10k

(Note 7) Monitor output Max. 1mA Reading in both directions

3 - 4

3. SIGNALS AND WIRING

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (t erminal mark ed ) of the servo amplifier to

the protective earth (PE) of the control box.

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

4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external.(Refer to Section 3.6.2)

5. When starting operation, always connect the emergency stop signal (EMG) and forward/ reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)

7. When connecting the personal computer together with monitor outputs 1, 2, use the branch cable (MR-E3CBL15-P). (Refer to Section 13.1.3)

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

9. This length applies to the command pulse train input in the differential line driver system. It is 2m (6.5ft) or less in the opencollector system.

10. Use MRZJW3-SETUP 154E.

11. Connect LG and pulse output COM to increase noise immunity.

12. Connect the external 24VDC power supply if the output signals are not used.

3 - 5

3. SIGNALS AND WIRING

(3) QD75D (differential driver)

Positioning module

QD75D

READY

RDY COM

PGO5

PGO COM

CLEAR

CLEAR COM

PULSE FPULSE F+ PULSE RPULSE R+

COM COM DOG

FLS RLS

STOP

CHG

PULSER A+

PULSER A-

PULSER B+

PULSER B-

11 12

9 10 13 14 16 15 18 17

A19 B19 A20 B20

Manual pulse generator MR-HDP01

(Note 9) 10m(32ft) m ax.

External power

supply 24VDC

A B

VIN

LZR

CR SG PG PP NG NP LG SD

Servo amplifier

(Note 8) CN1

19 20

5 13 22 23 24 25 14

Plate

(Note 8)

(Note 8) CN1

1VIN

ALM

ZSP

13 SG

CN1

LAR

16 17

LBR

18 14 21

Plate

LG OP SG

(Note 2, 4)

RA1 RA2

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common Encoder Z-phase pulse

(open collector)

Trouble (Note 6)

Zero speed

(Note 11)

External

power

supply

24VDC

(Note 3, 5) Emergency stop

Servo-on Reset

(Note 5) Forward rotation stroke end

Reverse rotation stroke end

(Note 10) Servo configuration software

Personal computer

(Note 7) Communication cable

(Note 8)

CN1 CN3 EMG SON RES

LSP

LSN

(Note 8)

CN3

(Note 8)

8 4 3 6 7

MO1

MO2

Plate

2m(6.5ft) max.

(Note 1)

10k

(Note 7) Monitor output Max. 1mA Reading in both directions

3 - 6

3. SIGNALS AND WIRING

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (t erminal mark ed ) of the servo amplifier to

the protective earth (PE) of the control box.

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

4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external.(Refer to Section 3.6.2)

5. When starting operation, always connect the emergency stop signal (EMG) and forward/ reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)

7. When connecting the personal computer together with monitor outputs 1, 2, use the branch cable (MR-E3CBL15-P). (Refer to Section 13.1.3)

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

9. This length applies to the command pulse train input in the differential line driver system. It is 2m (6.5ft) or less in the opencollector system.

10. Use MRZJW3-SETUP 154E.

11. Connect the external 24VDC power supply if the output signals are not used.

3 - 7

3. SIGNALS AND WIRING

3.1.2 Internal speed control mode

(Note 3, 5) Emergency stop

Servo-on Forward rotation start Reverse rotation start

(Note 5) Forward rotation stroke end

Reverse rotation stroke end

10m(32ft) max.

EMG SON

ST1 ST2 LSP LSN

SG 13

Servo amplifier

(Note 8)

CN1

(Note 8)

CN1

8 4 3 5 6 7

9 12

10 SA 11 13 SG

19 20 15 16 17 18 14 21

Plate

VIN ALM ZSP

LZR

LAR

LBR

LG OP SD

(Note 2, 4)

RA1 RA2

RA5 RA4

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common Encoder Z-phase pulse (open collector)

Trouble

(Note 6) Zero speed

Speed reached

Ready

(Note 10)

External

power

supply

24VDC

(Note 8)

CN3

10k

(Note 7) Monitor output Max. 1mA Reading in both directions

(Note 9) Servo configuration software

Personal computer

(Note 7) Communication cable

(Note 8)

CN3

4 3 6

Plate

MO1

MO2

(Note 1)

2m(6.5ft) max.

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (t erminal mark ed ) of the s ervo amplifier to

the protective earth (PE) of the control box.

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

4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external.(Refer to Section 3.6.2)

5. When starting operation, always connect the emergency stop signal (EMG) and forward/ reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)

6. Trouble (ALM) is connected with COM in normal alarm-free condition.

7. When connecting the personal computer together with monitor outputs 1, 2, use the branch cable (MR-E3CBL15-P). (Refer to Section 13.1.3)

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

9. Use MRZJW3-SETUP 154E.

10. Connect the external 24VDC power supply if the output signals are not used.

3 - 8

3. SIGNALS AND WIRING

3.2 Internal connection diagram of servo amplifier

The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode.

Servo amplifier

(Note)

CN1

INP SA10

RD RD11CR ALM ALM9 ZSP ZSP12

CN1

LAR

LBR

LZR

LG14

CN3

4MO1

External

power supply

24VDC

(Note)

VIN VIN 1

ST2 5 SON SON 4 RES

ST1 EMG

EMG

LSP

LSP LSN

LSN

OPC

PG PP NG NP

CN1

3 8 6 7

2 22 23 24 25

Case

Approx. 100k

Approx. 4.7k

Approx. 1.2k

Note. P: Position control mode, S: Internal speed control mode

62MO2

TXD

1RXD 3LG

Case

3 - 9

3. SIGNALS AND WIRING

3.3 I/O signals

3.3.1 Connectors and signal arrangements POINT

The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to the next page for CN1 signal assignment.

(1) Signal arrangement

5 3

MO2

2LG4

MRR

3MR57MD9

LG1RXD

MO1

MDR

TXD2TXD

10 LG

MODE

MITSUBISHI MR-E

CNP2

CNP1

The connector frames are connected with the PE (earth) terminal inside the servo amplifier.

SET

CN3

CN1

CN2

CHARGE

L3L2L1 D C P W V U

OPC

SON

LSP

EMG

INP

ZSP

VIN

RES

LSN

ALM

CN1

LAR

LBR

LZR

2613

3 - 10

3. SIGNALS AND WIRING

(2) CN1 signal assignment

The signal assignment of connector changes with the control mode as indicated below; For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters.

Connector Pin No. (Note1) I/O

1 VIN VIN VIN 2OPCOPC 3 I RES RES/ST1 ST1 No.43 to 48 4I SON SON 5I CR LOP 6 I LSP LSP LSP No.43 48 7I LSN LSN LSN No.4348 8 I EMG EMG EMG

9O ALM ALM ALM No.49 10 O INP INP/SA SA No.49 11 O RD RD RD No.49 12 O ZSP ZSP ZSP No.1, 49

CN1

Note: 1. I : Input signal, O: Output signal

2. P : Position control mode, S: Internal speed control mode, P/S: Position/internal speed control change mode.

13 SG SG SG 14 LG LG LG 15 O LA LA LA 16 O LAR LAR LAR 17 O LB LB LB 18 O LBR LBR LBR 19 O LZ LZ LZ 20 O LZR LZR LZR 21 O OP OP OP 22 I PG PG/ 23 I PP PP/ 24 I NG NG/ 25 I NP NP/ 26

(Note2) I/O Signals in control modes

PP/SS

SON

ST2

parameter

No.43 to 48 No.43 to 48

3 - 11

3. SIGNALS AND WIRING

(3) Symbols and sig na l na mes

Symbol Signal name Symbol Signal name

SON Servo-on ZSP Zero speed LSP Forward rotation stroke end INP In position LSN Reverse rotation stroke end SA Speed reached CR Clear ALM Trouble SP1 Speed selection 1 WNG Warning SP2 Speed selection 2 OP Encoder Z-phase pulse (open collector) PC Proportion control MBR Electromagnetic brake interlock ST1 Forward rotation start LZ ST2 Reverse rotation start LZR TL Torque limit selection LA RES Reset LAR EMG Emergency stop LB LOP Control change LBR PP VIN Digital I/F power supply input NP OPC Open collector power input PG SG Digital I/F common NG RD Ready SD Shield

Forward/reverse rotation pulse train

LG Control common

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

3 - 12

3. SIGNALS AND WIRING

3.3.2 Signal explanations

For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.6.2. In the control mode field of the table P : Position control mode, S: Internal speed control mode

: Denotes that the signal may be used in the initial setting status.

: Denotes th a t th e signal may be u se d by se t ting the corre spo n d in g pa r ameter among parameters 43 to

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

(1) Input si gn al s

POINT

The acceptance delay time of each input signal is less than 10ms.

Connec-

Signal Symbol

Servo-on SON CN1-4 Connect SON-SG to switch on the base c i rcuit and make the ser vo

Reset RES CN1-3 Disconnect RES-SG for more than 50ms to reset the alarm.

Forward rotation stroke end

Reverse rotation stroke end

LSP CN1-6

LSN CN1-7

tor pin

No.

Functions/Applications

amplifier ready to operate (servo-on). Disconnect SON-SG to shut off the base circuit and coast the servo motor (servo off) . Set "

1" in pa rameter No. 41 to switch thi s si gnal on (keep te rminals connected) automatically in th e servo amplifier.

Some alarms cannot be deactivated by the reset signal. (Refer to Section 10.2.1.) Shorting RES-SG in an alarm-free status shuts off the base circuit. The base circuit is not shut off when " parameter No. 51. To start operation, short LSP-SG and/or LSN-SG. Open them to bring the motor to a sudden stop and make it servo-locked. Set "

1" in parameter No. 22 to make a slow stop. (Refer to Section 5.2.3.)

(Note) Input signals Operation

LSP LSN

11 01 10 00

Note. 0: LSP/LSN-SG off (open)

1: SP/LSN-SG on (short)

Set parameter No. 41 as indicated below to switch on the signals (keep terminals connected) automatically in the servo amplifier:

Parameter No.41 Automatic ON

1 LSP 1 LSN

CCW

directionCWdirection

1 " is set in

I/O

division

DI-1

Control

mode

3 - 13

3. SIGNALS AND WIRING

Connec-

Signal Symbol

Internal torque limit selection Forward rotation start

Reverse rotation start

Speed selection 1 SP1 <Internal speed control m ode>

Speed selection 2 SP2

Speed selection 3 SP3

Proportion control

TL1 When using this signal, make it usable by making the setting of

ST1 CN1-3

ST2 CN1-5

PC Connect PC-SG to switch the speed amplifier from the proportional

tor pin

No.

Functions/Applications

parameter No. 43 to 48. (Refer to (5), Section 3.4.1.) Used to start the servo motor in any of the following directions:

(Note) Input signals

ST2 ST1

0 0 Stop (servo lock)

0 1 CCW

10 CW

1 1 Stop (servo lock)

Note. 0: ST1/ST2-SG off (open)

1: ST1/ST2-SG on (short)

If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the parameter No. 12 setting and servo-locked.

Used to select the command sp e ed f or op era t ion. When using SP1 to SP3, make it usable by making the setting of parameter No. 43 to 48.

(Note) Input signals

SP3 SP2 SP1

00 0 0 0 1 Internal speed command 1 (parameter No. 8)

0 1 0 Internal speed command 2 (parameter No. 9) 0 1 1 Internal speed command 3 (pa rameter No. 10 ) 10 0 1 0 1 Internal speed command 5 (pa rameter No. 73 ) 1 1 0 Internal speed command 6 (pa rameter No. 74 ) 1 1 1 Internal speed command 7 (pa rameter No. 75 )

Note 0: SP1/SP2/SP3-SG off (open)

1: SP1/SP2/SP3-SG o n ( sh o r t)

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 proportion control signal (PC) 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 proportion control signal and torque control signal (TL) at the same time to make the torque less than the rated by the analog torque limit.

Internal speed command 1 (parameter No. 8) DI-1

Internal speed command 4 (parameter No. 72)

Servo motor starting direction

Speed command

I/O

division

DI-1

Control

mode

3 - 14

3. SIGNALS AND WIRING

Connec-

Signal Symbol

Emergency stop EMG CN1-8 Disconnect EMG-SG to bring the servo motor to emergency stop

Clear CR CN1-5 Connect CR-SG to clear the position control counter droop pulses on

Electronic gear selection 1

Electronic gear selection 2

Gain changing CDP When using this signal, make it usable by the setting of parameter

Control change LOP <Positi on/i nternal sp e ed cont rol change mode>

Forward rotation pulse train Reverse rotation pulse train

CM1 When using CM1 and CM2, make them usable by the setting of

CM2

tor pin

No.

CN1-23

CN1-25

CN1-22

CN1-24

Functions/Applications

state, in which the servo is switched off and the dynamic brake is operated. Connect EMG-SG in the emergency stop state to reset that state.

its leading edge. The pulse width should be 10ms or more. When the parameter No.42 setting is " cleared while CR- SG a re connected.

parameters No. 43 to 48. The combination of CM1-SG and CM2-SG gives you a choice of four different electronic gear numerators set in the parameters. CM1 and CM2 cannot be used in the absolute position detection system.

(Note) Input signals

CM2 CM1

00 Parameter No. 3 01 Parameter No. 69 10 Parameter No. 70 11 Parameter No. 71

Note.0: CM1/CM2-SG off (open)

1: CM1/CM2-SG on (short)

No. 43 to 48. Connect CDP-SG to change the load inertia moment ratio into the parameter No. 61 setting and the gain values into the values multiplied by the parameter No. 62 to 64 settings.

Used to select the control mode in the position/internal speed control change mode.

(Note) LOP Control mode

0Position 1 Internal speed

Note.0: LOP-SG off (open)

1: LOP-SG on (short)

Used to enter a command puls e t ra i n.

In the open collector system (max. input frequency 200kpps): Forward rotation pulse train across PP-SG Reverse rotation pulse train across NP-SG In the differential receiver system (max. input frequency 500kpps): Forward rotation pulse train across PG-PP Reverse rotation pulse train across NG-NP

The command pulse train f o rm ca n b e cha nged using parameter No. 21.

1 ", the pulses are al w a y s

Electronic gear namerator

I/O

division

DI-1

DI-2

Control

mode

Refer to

Functions/

Appli-

cations.

3 - 15

3. SIGNALS AND WIRING

(2) Output signals

Connec-

Signal Symbol

Trouble ALM CN1-9 ALM-SG are disconnected when power is switched off or the

Ready RD CN1-11 RD-SG are connected when the servo is switched on and the servo

In position INP INP-SG are connected when the number of droop pulses is in the

Speed reach ed SA

Zero speed ZSP CN1-12 ZSP-SG are connected when the servo motor speed is zero speed

Electromagnetic brake interlock

Warning WNG To use this signal, assign the connector pin for output using

MBR

tor pin

No.

CN1-10

(CN1-12)

Functions/Applications

protective circuit is activated to shut off the base circuit. Without alarm, ALM-SG are connected within 1 after power on.

amplifier is ready to operate.

preset in-position range. The in-position range can be changed using parameter No. 5. When the in-position range is increased, INP-SG may be kept connected during low-speed rotation. SA-SG are connected when the servo motor speed has nearly reached the preset speed. When the preset speed is 50r/min or less, SA-SG are kept connec ted.

(50r/min) or less. Zero speed can be changed using parameter No.

24. Set " 1 " in parameter No. 1 to use this parameter. Note that ZSP will be unusable. In the servo-off or alarm status, MBR-SG are disconnected. When an alarm occurs, they are disconnected independently of the base circuit status.

parameter No.49. The old signal before assignment will be unusable. When warning has occurred, WNG-SG are connected. When there is no warning, WNG-SG are disconnected within 1 second after power-on.

I/O

division

DO-1

Control

mode

3 - 16

3. SIGNALS AND WIRING

Signal Symbol

Alarm code ACD 0

ACD 1

ACD 2

Connec-

tor pin

No.

Functions/Applications

To use this signal, set " 1" in parameter No.49. This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output. Alarm codes and alarm names are listed below:

(Note) Alarm code

CN1

12 Pin

11 Pin

000

010 001AL.10Undervoltage

011

100

110

101

Note.0: Pin-SG off (open)

1: Pin-SG on (short)

10 Pin

Alarm

display

88888 Watchdog AL.12 Memory error 1 AL.13 Clock error AL.15 Memory error 2 AL.17 Board error AL.19 Memory error 3

AL.37 Parameter error AL.8A AL.8E Serial communication error

AL.30 Regenerative error AL.33 Overvoltage

AL.45 Main circuit device AL.46 Servo motor overheat AL.50 Overload 1 AL.51 Overload 2 AL.24 Main circuit error AL.32 Overcurrent AL.31 Overspeed

AL.35 AL.52 Error exc essi ve

AL.16 Encoder error 1 AL.1A Monitor combination error AL.20 Encoder error 2

Serial communication timeout

Command pulse frequency alarm

Name

I/O

division

DO-1

Control

mode

3 - 17

3. SIGNALS AND WIRING

Connec-

Signal Symbol

Encoder Z-phase pulse (Open collector)

Encoder A-phase pulse (Differential line driver) Encoder B-phase pulse (Differential line driver) Encoder Z-phase pulse (Differential line driver) Analog monitor 1 MO1 CN3-4 Used to output the data set in parameter No.17 to across MO1-LG

Analog monitor 2 MO2 CN3-6 Used to output the data set in parameter No.17 to across MO2-LG

OP CN 1-21 Out puts the zero-point signal of the encoder. One pul se is output

LAR

LBR

LZR

tor pin

No.

CN1-15

CN1-16

CN1-17

CN1-18

CN1-19

CN1-20

Functions/Applications

per servo motor revo lution. OP and LG are connec ted when the zero-point position is reached. (Negative logic) The minimum pulse width is about 400 return using this pulse, set the creep speed to 100r/min. or less. Outputs pulses per servo motor revolution set in parameter No. 27 in the differential line driver system. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of The relationships between rotation direction and phase difference of the A- and B-phase pulses c an be c hange d usi ng par ame ter No .

54.

The same signal as OP is output in the differential line driver system.

in terms of voltage. Resolution 10 bits

/2.

s. For home position

I/O

division

DO-2

Analog

output

Analog

output

Control

mode

(3) Communication

Connec-

Signal Symbol

RS-232C I/F RXD

TXD

tor pin

No.

CN3-1

CN3-2

Functions/Applications

RS-232C communication interface.

(4) Power supply

Connec-

Signal Symbol

Digital I/F power supply input

Open collector power input Digital I/F common

Control common LG CN1-14 Common terminal for OP, MO1, and MO2.

Shield SD Plate Connect the external conductor of the shield cable.

VIN CN1-1 Used to input 24VDC for input interface.

OPC CN1-2 When inputting a pulse train in the open collector system, supply

SG CN 1-13 Commo n terminal for input signals such as SON and EMG. Pins

tor pin

No.

Functions/Applications

Connect the positive terminal of the 24VDC external power supply. 24VDC

this terminal with the positive (

are connected internally. Separated from LG.

Pins are connecte d internally.

10%

) power of 24VDC.

I/O

division

I/O

division

Control

mode

Control

mode

3 - 18

3. SIGNALS AND WIRING

3.4 Detailed description of the signals

3.4.1 Position control mode (1) Pulse trai n inpu t

(a) Input pulse waveform selection

Encoder pulses may be input in any of three different forms, for which positive or negative logic can be chosen. Set the command pulse train form in parameter No. 21. Arrow A- and B-phase pulse trains are imported after they have been multi pli ed b y 4.

or in the table indicates the timing of importing a pulse train.

Pulse train form

Forward rotation pulse train Reverse rotation pulse train

Pulse train sign

Negative logic

A-phase pulse train B-phase pulse train

Forward rotation pulse train Reverse rotation pulse train

Pulse train sign

Positive logic

A-phase pulse train B-phase pulse train

Forward rotation

command

NP PP

PP NP

Reverse rotation

command

Parameter No. 21

(Command pulse train)

0010

0011

0012

0000

0001

0002

3 - 19

3. SIGNALS AND WIRING

(b) Connections and waveforms

1) Open collector system Connect as shown below:

The explanation assumes that the input waveform has b een set to the negati ve logi c and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG. Their relationships with transistor ON/OFF are as follows:

Forward rotation pulse train (transistor)

Reverse rotation pulse train (transistor)

Servo amplifier

External power

supply 24VDC

(ON)(OFF)

Forward rotation command Reverse rotation command

(ON)(OFF)

(OFF)

OPC

Approx.

1.2k Approx.

1.2k

(OFF)

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

3 - 20

3. SIGNALS AND WIRING

2) Differential line driver system Connect as shown below:

The explanation assumes that the input waveform has b een set to the negati ve logi c and forward and reverse rotation pulse trains (parameter No.21 has been set t o 0010 ). For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows. The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line driver.

Servo amplifier

Forward rotation pulse train

Reverse rotation pulse train

Forward rotation command Reverse rotation command

3 - 21

3. SIGNALS AND WIRING

(2) In-position (INP)

PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the in-position range.

Servo-on (SON)

ON OFF

Alarm

Droop pulses

In position (INP)

Yes No

In-position range

ON OFF

(3) Ready (RD)

Servo-on (SON)

Alarm

Ready (RD)

ON OFF

Yes No

ON OFF

80ms or less 10ms or less 10ms or less

(4) Electronic gear switching

The combination of CM1-SG and CM2-SG gives you a choice of four different electronic gear numerators set in the parameters. As soon as CM1/CM2 is turned ON or OFF, the namerator of the electronic gear changes. Therefore, if any shock occurs at this change, use position smoothing (parameter No. 7) to relieve shock.

(Note) External input signal

CM2 CM1

00 Parameter No. 3 01 Parameter No. 69 10 Parameter No. 70 11 Parameter No. 71

Note.0: CM1/CM2-SG off(open)

1: CM1/CM2-SG on(short)

Electronic gear namerator

3 - 22

3. SIGNALS AND WIRING

(5) Torque limit

(a) Torque limit and torque

By setting param eter No. 28 (interna l torque limit 1), to rque is always limi ted to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below.

(b) Torque limit value selection

When internal torque limit selection (TL1) is made usable by parameter No. 43 to 48, internal torque limit 2 (paramete r No. 76) can be selected. However, if the p arameter No. 28 v alue is less than the limit value selected by parameter No.76, the parameter No. 28 value is made valid.

(Note) External input signals

TL1

0 Internal torque limit value 1 (parameter No. 28) 1

Note.0: TL/TL1-SG off (open)

1: TL/TL1-SG on (short)

Max. torque

Parameter No. 76 Parameter No. 76

Torque

0 100

Torque limit value [%]

Torque limit value made valid

Parameter No. 28: Parameter No. 28 Parameter No. 28: Parameter No. 76

3 - 23

3. SIGNALS AND WIRING

3.4.2 Internal speed control mode (1) Speed setting

(a) Speed command and speed

The servo motor is run at the speeds set in the parameters.

The following ta ble indicates the rota tion direction accor ding to forward rotation start ( ST1) and reverse rotation start (ST2) combination:

(Note) External input signals Rotation direction

ST2 ST1

00 Stop (Servo lock) 01 CCW 10 CW 11 Stop (Servo lock)

Note.0: ST1/ST2-SG off (open)

1: ST1/ST2-SG on (short)

Forward rotation (CCW)

Reverse rotation (CW)

Internal speed commands

The forward rotation start signal (ST1) and reverse rotation start signal (ST2) can be assigned to any pins of the connector CN1 using parameters No. 43 to 48. Generally, make connection as shown below:

Servo amplifier

ST1 ST2

SG SD

3 - 24

3. SIGNALS AND WIRING

(b) Speed selection 1 (SP1), speed selection 2 (SP2), speed selection 3 (SP3) and speed command value

By making speed selection 1 (S P1), sp eed sele ction 2 (S P2) and sp eed se lection 3 (S P3) usab le by setting of parameter No. 43 to 47, you can choose the speed command values of internal speed commands 1 to 7.

(Note) External input signals

SP3 SP2 SP1

0 0 0 Internal speed command 1 (parameter No. 8) 0 0 1 Internal speed command 1 (parameter No. 8) 0 1 0 Internal speed command 2 (parameter No. 9) 0 1 1 Internal speed command 3 (parame t er No. 10) 1 0 0 Internal speed command 4 (parame t er No. 72) 1 0 1 Internal speed command 5 (parame t er No. 73) 1 1 0 Internal speed command 6 (parame t er No. 74) 1 1 1 Internal speed command 7 (parame t er No. 75)

Note.0 : SP1/SP2/SP3-SG off (open)

1 : SP1/SP2/SP3-SG on (short)

The speed may be ch anged during rotation. In this case, the value s set in par ameters No. 11 and 12 are used for acceleration/deceleration. When the speed has been specified under any internal speed command, it does not vary due to the ambient temperature.

Speed command value

(2) Speed reached (SA)

SA-SG are connected when the servo motor speed nearly reaches the speed set to the internal speed command.

Internal speed

Set speed selection

Start (ST1,ST2)

Servo motor speed

Speed reached (SA)

Internal speed

command 1

OFF

command 2

(3) Torque limit

As in Section 3.4.1 (5).

3 - 25

3. SIGNALS AND WIRING

3.4.3 Position/internal speed control change mode

Set "0001" in par ame ter N o. 0 to sw itch to the po sitio n/ inte rn al spe ed co ntro l ch ang e mo de. Th is f unct ion is not available in the absolute position detection system.

(1) Control change (LOP)

Use control change (LOP) to switch between the position control mode and the internal speed control mode from an external contact. Relationships between LOP-SG status and control modes are indicated below:

(Note) LOP Servo control mode

0 Position control mode 1 Speed control m od e

Note.0: LOP-SG off (open)

1: LOP-SG on (short)

The control mode may be changed in the zero-speed status. To ensure safety, change control after the servo motor has stopped. When position control mode is changed to speed control mode, droop pulses are reset. If the signal has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed. A change timing char t is shown below:

Position

control mode

Internal speed

control mode

Position

control mode

Zero speed

Servo motor speed

Zero speed (ZSP)

Control change (LOP)

Note: When ZSP is not on, control cannot be changed if LOP is switched on-off. If ZSP switches on after that, control cannot not be changed.

level

ON OFF ON OFF

(2) Torque limit in position control mode

As in Section 3.4.1 (5).

(Note)

3 - 26

3. SIGNALS AND WIRING

(3) Internal speed setting in speed control mode

(a) Speed command and speed

The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are as in (a), (1) in section 3.4.2. Generally, make connection as shown below:

Servo amplifier

SP2

SG SD

(b) Speed selection 2 (SP2) and speed command value

Use speed selection 2 (SP2) to select between the speed set by the internal speed command 1 and the speed set by the Internal speed command 2 as indicated in the following table:

(Note) External input signals

SP1

0 Internal speed command 1 (parameter No. 8) 1 Internal speed command 2 (parameter No. 9)

Note.0: SP1-SG off (open)

1: SP1-SG on (short)

Speed command value

The speed may also be changed during rotation. In this case, it is increased or decreased according to the value set in parameter No. 11 or 12. When the internal speed command 1 is used to command the speed, the speed does not vary with the ambient temperature.

As in Section 3.4.2 (2).

3 - 27

3. SIGNALS AND WIRING

3.5 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation

CAUTION

When an alarm occurs in the servo amplifier, t he base circuit is shut off and the servo motor is coated to a stop. Switch off the power supply in the external sequence. To reset the alarm, switch the power supply from off to on, press the "SET" button on the current alarm screen, or turn the reset signal (RES) from off to on. However, the alarm cannot be reset unless its cause is removed.

signal is not being input, ensure safety, and reset the alarm before restarting operation.

(Note) Power supply

Base circuit

Dynamic brake

Servo-on (SON)

Ready (RD)

Trouble (ALM)

Reset (RES)

Note: Shut off the power as soon as an alarm occurs.

OFF

Valid

Invalid

OFF

Alarm occurs.

Remove cause of trouble.

Brake operation

50ms or more

Power off

Brake operation

60ms or more

Power on

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching power off, then on to reset the overcurrent (AL.32), overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation.

(2) Regenerative alarm

If operation is repeated by switching power off, then on to reset the regenerative (AL.30) alarm after its occurrence, the external regenerative brake resistor will generate heat, resulting in an accident.

(3) Instantane ou s pow e r fa il ur e

Undervoltage (AL.10) occurs if power is restored after a 60ms or longer power failure of the power supply or after a drop of the bus voltage to or below 200VDC. If the power failure persists further, the power switches off. When the power failure is reset in this state, the alarm is re set and the servo motor will start suddenly if the servo-on signal (SON) is on. To prevent hazard, make up a sequence which will switch off the servo-on signal (SON) if an alarm occurs.

(4) In position control mode (incremental)

When an alarm occurs, the home position is lost. When resuming operation after deactivating the alarm, make a home position return.

3 - 28

3. SIGNALS AND WIRING

3.6 Interfaces

3.6.1 Common line

The following diagram shows the power supply and its common line.

External

power supply

24VDC

DI-1

(Note)

CN1

VIN

SON, etc.

OPC

PG NG

PP NP

Isolated

ALM, et c.

LA etc.

LAR etc.

MO1 MO2

CN1

DO-1

Analog monitor output

CN3

Differential line driver output 35mA max.

Servo motor

Ground

Note: For the open collection pulse train input. Make the following connection for the different line driver pulse train input.

TXD RXD

MRR

LG SD

OPC PG NG

PP NP SG

RS-232C

Servo motor encoder

CN2

3 - 29

3. SIGNALS AND WIRING

3.6.2 Detailed description of the interfaces

This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.3.2. Refer to this section and connect the interfaces with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor.

Servo amplifier

External power supply 24VDC 200mA or more

Switch

VIN

SON, etc.

R: Approx. 4.7

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current: 100mA or less) (a) Inductive load

Servo amplifier

VIN

External power

Load

ALM, etc.

If the diode is not connected as shown, the servo amplifie r will be damaged.

supply 24VDC 10%

3 - 30

3. SIGNALS AND WIRING

(b) Lamp load

Servo amplifier

VIN

ALM, etc.

External power supply 24VDC 10%

(3) Pulse trai n in put int e rfa ce DI -2

Provide a pulse train signal in the open collector or differential line driver system. (a) Open collector system

1) Interface

Servo amplifier

VIN

External power supply 24VDC

PP, NP

Max. input pulse frequency 200kpps

About 1.2k

2) Conditions of the input pulse

0.9

0.1

tc tLH

tHL

tLH tHL 0.2 s tc 2 s tF 3 s

3 - 31

3. SIGNALS AND WIRING

(b) Differential line driver system

1) Interface

Am26LS31 or equivalent

Servo amplifier

Max. input pulse frequency 500kpps

PP(NP)

2) Conditions of the input pulse

(4) Encoder pul se outp ut

(a) Open collector system

Interface

Max. output current : 35mA Servo amplifier

OP LG

PP PG

NP NG

0.9

0.1

tc tLH

PG(NG)

tHL

Servo amplifier

About 100

tLH tHL 0.1 s tc 1 s tF 3 s

OP LG

5 to 24VDC

Photocoupler

3 - 32

3. SIGNALS AND WIRING

(b) Differential line driver system

1) Interface Max. output current: 35mA

Servo amplifier Servo amplifier

LA (LB, LZ)

LAR (LBR, LZR)

2) Output pulse

Servo motor CCW rotation

Am26LS32 or equivalent High-speed photocoupler

150

LA (LB, LZ)

LAR (LBR, LZR)

100

(5) Analog output

Output voltage 10V Max.1mA Max. output current Resolution : 10bit

Servo amplifier

MO1

(MO2)

LAR

LBR

LZR

10k

Reading in one or both directions 1mA meter

LZ signal varies 3/8T on its leading edge.

400 s or more

3 - 33

3. SIGNALS AND WIRING

3.7 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo

amplifier power side. Continuous flow of a large current may cause a fire.

CAUTION

3.7.1 Connection example

Wire the power supp ly and main circui t as shown below so th at the servo-on signal turns off a s soon as alarm occurrence is detected and power is shut off. A no-fuse breaker (NFB) must be used with the input cables of the power supply.

(1) For 3-phase 200 to 230VAC power supply

Use the trouble signal to switch power off. Otherwise, a regenerative brake

transistor fault or the like may o verheat the r egenerative b rake resist or, causing a fire.

POINT

The power supply connector (CNP1) is optional. Purchase it without fail.

Emergency stop

OFF

NFB MC

3-phase 200 to 230 VAC

(Note)

Emergency stop

Servo-on

Note: To use the built-in regenerative resistor, be sure to connect across P and D of the power supply connector (CNP1).

CNP1

Servo amplifier

L P D C

EMG SON

VIN

ALM

Trouble

External

power

supply

24VDC

3 - 34

3. SIGNALS AND WIRING

(2) For 1-phase 230VAC power supply

Emergency stop

OFF

NFB MC

Power supply 1-phase 230VAC

(Note)

CNP1

Servo amplifier

P D C

Emergency stop

Servo-on

EMG SON

VIN

ALM

Note: To use the built-in regenerative resistor, be sure to connect across P and D of the power supply connector (CNP1).

3.7.2 Terminals

Refer to Section 11.1 (4) for the signal arrangement.

Connected terminal

(Application)

Power supply

Symbol Description

Supply L1, L2 and L3 with the following power: For 1-phase 230VAC, connect the power supply to L

Servo amplifier

Power supply

3-phase 200 to 230VAC, 50/60Hz 1-phase 230VAC,

50/60Hz

MR-E-10A to

70A

1L2L3

1L2

and leave L3 open.

1/L2

MR-E-100A/

200A

Trouble

External

power supply

24VDC

Servo motor output

Regenerative brake

option

Protective eart h (PE)

Connect to the ser vo motor power supply terminal s (U, V, W).

To use the built-in regenerative brake resistor of the servo amplifier, connect the

wiring across P-D of the power supply connector (CNP1). When using the regenerative brake option, always remove the wiring from across

P-D and connect the regenerative b ra ke option acr os s P-C.

Refer to Section 13.1.1 for details. Connect this terminal to the protective earth (PE) terminals of the servo motor and contro l box for groundi ng.

3 - 35

3. SIGNALS AND WIRING

3.7.3 Power-on sequence

(1) Power-on procedure

1) Always wire the power supp ly as shown in above Section 3. 7.1 using the magnetic con tactor with the power supply (three-phase 200V: L external sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) The servo amplifier can accept the servo-on signal (SON) 2s or more after the power supply is switched on. Therefore, when SON is switched on simultaneously with the power supply, the base circuit will switch on in about 1 to 2 s, and the ready signal (RD) will switch on in further about 20ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section.)

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

(2) Timing chart

SON accepted

2s or longer

(1 to 2s)

, L2, L3, single-phase 230V: L1, L2). Configure up an

power supply

Base circuit

Servo-on (SON)

Reset (RES)

Ready (RD)

OFF

20ms

10ms

60ms

20ms

10ms

60ms

20ms10ms

10ms

(3) Emergency stop

Make up a circuit which shuts off power as soon as EMG-SG are opened at an emergency stop. To ensure safety, always install an external emergency stop switch across EMG-SG. By disconnecting EMG-SG, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the display shows the servo emergency stop warning (AL.E6). During ordinary operation, do not use the external emergency stop signal to alternate stop and run. The servo amplifier life may be shortened. Also, if the start signal is on or a pulse train is input during an emergency stop, the servo motor will rotate as soon as the warning is reset. During an emergency stop, always shut off the run command.

External power supply 24VDC

Emergency stop

VIN

EMG

3 - 36

3. SIGNALS AND WIRING

3.8 Connection of servo amplifier and servo motor

3.8.1 Connection instructions

WARNING

Insulate the connections of the power supply terminals to prevent an electric

shock.

Connect the wires to the corr ect phase term inals (U, V, W ) of the servo am plifier

CAUTION

and servo motor. Otherwise, the servo motor will operate improperly.

Do not connect AC power supp ly directly to the servo m otor. Otherwis e, a fault

may occur.

POINT

Do not apply the test lead bars or like of a tester directly to the pins of the connectors supplied with the servo motor. Doing so will deform the pins, causing poor contact.

The connector (CNP2) for supplying the power to the motor is optional. Be sure to purchase it.

The connection method differs according to the series and capacity of the servo motor and whether or not the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.

(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the

servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel.

Control box

Servo amplifier

Servo moto

PE terminal

(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.

Always use the power supply designed exclusively for the electromagnetic brake.

3.8.2 Connection diagram

The followin g table lists w iring me thods accord ing to the servo motor types. U se the conne ction diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 13.2.1. For encoder cable connection, refer to Section 13.1.4. For the signal layouts of the connectors, refer to Section

3.8.3. For the servo motor connector, refer to Chapter 3 of the Servo Motor Instruction Manual.

3 - 37

3. SIGNALS AND WIRING

Servo motor Connection diagram

Servo amplifier

CNP2

U V

(Note 1)

U (Red) V (White) W (Black)

(Green)

Servo motor

Motor

HC-KFE13 (B) to 73 (B)

HC-SFE52 (B) to 152 (B)

CN2

24VDC

EMG

To be shut off when servo on signal switches off or by alarm signal

Encoder cable

B1 B2

(Note2)

Electromagnetic brake

Encoder

Note:1. To prevent an electric shock, always connect the protective earth (PE) term i nal of the

servo amplifier to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake. Servo amplifier

CNP2

U V

EMG

To be shut off when servo on signal switches off or by

CN2

alarm signal

Encoder cable

(Note 1)

24VDC

Servo motor

U V

Motor

Electro-

magnetic brake

Encoder

(Note2)

Note:1. To prevent an electric shock, always connect the protective earth (PE) term i nal of the

servo amplifier to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake.

Servo amplifier

CNP2

U V

Servo motor

U V

Motor

HC-SFE202 (B)

(Note 1)

CN2

24VDC

EMG

To be shut off when servo on signal switches off or by alarm signal

Encoder cable

B1 B2

(Note2)

Electromagnetic brake

Encoder

Note:1. To prevent an electric shock, always connect the protective earth (PE) term i nal of the

servo amplifier to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake.

3 - 38

3. SIGNALS AND WIRING

3.8.3 I/O terminals (1) HC-KFE series

Encoder cable 0.3m (0.98ft.) With connector 1-172169-9 (AMP)

Power supply

connector 5557-04R-210

13 24

View b

1 2 3 4

Signal

Earth

Power supply lead 4-AWG19 0.3m (0.98ft.)

Power supply connector (molex) Without electrom agnetic brake 5557-04R-210 (receptacle) 5556PBTL ( F emale terminal)

With electromagnetic brake 5557-06R-210 (receptacle) 5556PBTL ( F emale terminal)

Power supply connector

U V

5557-06R-210

1 25 36

View b

Encoder connector signal arrangemen

123

MRR

456

MDR

789

LG SHD

View a

Signal

2 3 4 5 6

U V

Earth

(Note) (Note)

B1 B2

CONT

Note:Supply electromagnetic brake power (24VDC). There is no polarity.

3 - 39

3. SIGNALS AND WIRING

(2) HC-SFE series

Servo motor

HC-SFE52(B) to 152(B)

HC-SFE202(B)

Servo motor side connectors

For power supply For encoder

CE05-2A2223PD-B

CE05-2A2417PD-B

MS3102A2029P

Electromagnetic brake connector

The connector for power is shared. MS3102A10SL4P

Encoder connector

Brake connector

Power supply connecto r

Power supply connector signal arrangement

CE05-2A22-23PD-B

Key

View c View c

Encoder connector signal arrangement

MS3102A20-29P

Key

Signal

TP SR

MDR

MRR

D E

F G

View a

CE05-2A24-10PD-B

Signal

A B C D E F G H

(Earth)

(Note)

Note:Supply electromagnetic brake power (24VDC). There is no polarity.

Signal

CONT

SHD

S T

Key

Signal

A B C

D E F

U V

(Earth)

(Note)

Note:Supply electromagnetic brake power (24VDC). There is no polarity.

Electromagnetic brake connector signal arrangement

MS3102A10SL-4P

Key

A B

Signal (Note) (Note)

B1 B2

Note:Supply electromagneti brake power (24VDC).

There is no polarity.

View b

3 - 40

3. SIGNALS AND WIRING

3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only

by the servo amplifier signals but also by an external emergency stop signal.

Contacts must be open when servo-on signal is off or when an alarm (trouble) is present and when an electromagnetic brake signal.

Circuit must be opened during emergency stop signal.

Servo motor

CAUTION

Electromagnetic brake

EMGRA

24VDC

The electrom agnetic brake is provided f or holding p urpose and m ust not be used

for ordinary braking.

POINT

Refer to the Servo Motor Instruction Manual for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Note the following when the servo motor equipped with electromagnetic brake is used for applications requiring a brake to hold the motor shaft (vertical lift applications):

1) Set "

1 " in parameter No.1 to make the electromagnetic brake interlock signal (MBR) valid.

Note that this will make the zero speed signal (ZSP) unavailable.

2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brak e.

3) The brake will operate when the power (24VDC) switches off.

4) While the reset signal is on, the base circuit is shut off. When using the servo motor with a vertical shaft, use the electromagnetic brake interlock signal (MBR).

5) Switch off the servo-on signal after the servo motor has stopped.

(1) Connection diagram

Servo amplifier Servo motorEmergency

VIN

MBR

External power

supply 24VDC

External

power

supply

24VDC

stop

(2) Setting

1) Set "

1 " in parameter No.1 to make the electromagnetic brake interlock signal (MBR) valid.

2) Using parameter No. 33 (electromagnetic brake sequence output), set a time dela y (Tb) at servo-off from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in (3) in this section.

3 - 41

3. SIGNALS AND WIRING

(3) Timing charts

(a) Servo-on signal command (from controller) ON/OFF

Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operati on delay ti me to prevent a drop.

Coasting

Servo motor speed

0 r/min

(60ms)

Base circuit

Electromagnetic brake (M BR)

Servo-on(SON)

ON OFF

Invalid(ON) Valid(OFF)

ON OFF

(80ms)

(b) Emergency stop signal (EMG) ON/OFF

Servo motor speed

(10ms)

Base circuit

Electromagnetic brake interlock (MBR)

Emergency stop (EMG)

OFF Invalid (ON) Valid (OFF) Invalid (ON) Valid (OFF)

Electromagnetic brake operation delay time

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake release

(180ms)

Electromagnetic brake operation delay time

3 - 42

3. SIGNALS AND WIRING

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR)

ON OFF

Invalid(ON) Valid(OFF)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

(10ms)

Electromagnetic brake operation delay time

Trouble (ALM)

No(ON) Yes(OFF)

(d) Power off

Servo motor speed

Base circuit

Electromagnetic brake interlock(MBR)

Trouble (ALM)

power

Note: Changes with the operating status.

ON OFF Invalid(ON) Valid(OFF) No(ON) Yes(OFF) ON OFF

(Note) 15 to 100ms

(10ms)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

(10ms or less)

Electromagnetic brake operation delay time

(Note 2)

3 - 43

3. SIGNALS AND WIRING

3.10 Grounding Ground the servo amplifier and servo motor securely.

WARNING

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, 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 the EMC Installation Guidelines (IB(NA)67310).

(Note) Power supply 3-phase 200 to 230VAC, 1-phase 230VAC

To prevent an electric shock, always connect the protective earth (PE) terminal of

the servo amplifier with the protective earth (PE) of the control box.

Control box

Servo motor

Servo amplifier

NFB

Line fi l ter

CN2

Encoder

CN1

controller

Programmable

Protective earth(PE)

Note: For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.

Outer box

Ensure to connect it to PE terminal of the servo amplifier. Do not connect it directly to the protective earth of the control panel.

3 - 44

3. SIGNALS AND WIRING

3.11 Servo amplifier connectors (CNP1, CNP2) wiring method (When MR-ECPN1-B and MR-ECPN2-B of

an option are used.)

(1) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cabl e size: 0.2 to

2.5mm

Twisted wire: Use the cable after str ippi ng the she ath an d twi stin g the core. At thi s time , take ca re to

)

8 to 9 mm

avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it m ay cause a con tact fault. (C able size : 0.2 to 2.5mm

)Alternatively, a bar

terminal may be used to put the wires together.(Phoenix contact make)

Cable size Bar te rminal type

[mm2] AWG For 1 cable For 2 cables

1.25 16

1.5 16 AI1.5-8BK

214

2.5 14

BT1.25-9-1 NH1 NICHIFU TUB-1.25 YHT-2210 JST

AI-TWIN2 1.5-8BK

AI-TWIN2 BT2-9-1 NH1 NICHIFU TUB-2 YHT-2210 JST AI2.5-8BU AI2.5-8BK-1000

AI-TWIN2

1.5-12BK

2.5-10BU

2.5-13BU

Crimping tool Maker

CRIMPFOX-UD6 Phoenix Contact

3 - 45

3. SIGNALS AND WIRING

(2) Inserting the cable into the connector

(a) Applicable flat-blade screwdriver dimensions

Always use the screwdriver shown here to do the work.

(R0.3)

0.6

(R0.3)

3 to 3.5

(b) When using the flat-blade screwdriver - part 1

(22)

1) Insert the screwdriver into the square hole. Insert it along the top of the square hole to insert it smoothly.

[Unit: mm]

2) If inserted properly, the screwdriver is held.

3) With the screwdriver held, insert the cable in the direction of arrow. (Insert the cable as far as it will go.)

4) Releasing the screwdriver connects the cable.

3 - 46

3. SIGNALS AND WIRING

1) Insert the screwdriver into the square window at top of the connector.

4) Releasing the screwdriver connects the cable.

2) Push the screwdriver in the direction of arrow.

3) With the screwdriver pushed, insert the cable in the direction of arrow. (I n s ert th e c able as far as it will go.)

3 - 47

3. SIGNALS AND WIRING

3.12 Instructions for the 3M connector

When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath

Strip the sheath.

Ground plate

External conductor

SheathCore

Pull back the external conductor to cover the sheath

Screw

Cable

Screw

3 - 48

4. OPERATION

4.1 When switching power on for the first time

Before starting operation, check the following:

(1) Wiring

(a) A correct power supply is connected to the power input terminals (L (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the

power input terminals (U, V, W) of the servo motor.

power input terminals (L (d) The earth terminal of the servo motor is connected to the PE terminal of the servo am plifier. (e) When using the regenerative brake option, the lead has been removed from across D-P of the servo

amplifier built-in regenerative brake resistor, and twisted cables are used for its wiring. (f) When stroke end limit switches are used, the signals across LSP-SG and LSN-SG are on during

operation. (g) 24VDC or higher voltages are not applied to the pins of connectors CN1. (h) SD and SG of connectors CN1 are not shorted. (i) The wiring cables are free from excessive force.

, L2, L3) of the servo motor.

, L2, L3) of the servo amplifier.

(2) Environment

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

(3) Machine

(a) The screws in the servo motor installation part and shaft-to-machine connection are tight. (b) The servo motor and the machine connected with the servo motor can be operated.

4 - 1

4. OPERATION

4.2 Startup

WARNING

Do not operate the switches with wet hands. You may get an electric shock.

Before starting operation, check the parameters. Some machines may perform

unexpected operation.

CAUTION

During power- on fo r so me aft e r powe r- off, d o no t touc h or clo s e a par t s (cab le et c. ) to the servo amplifier heat sink, regenerative brake resistor, the servo motor, etc. Their temperatures may be high and you may get burnt or a parts may damaged.

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

4.2.1 Selection of control mode

Use parameter No. 0 to choose the control mode used. After setting, this parameter is made valid by switching power off, then on.

4.2.2 Position control mode (1) Power on

1) Switch off the servo-on (SON) signal.

2) When power is switched on, the display shows "C (Cumulative feedback pulses)", and in two second later, shows data.

(2) Test operation 1

Using jog operation in the test operation mode, make sure that the servo motor oper ates. (Refer to Section 6.8. 2 . )

(3) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for the parameter definitions and to Sections 6.5 for the setting method.

Parameter No. Name Setting Description

3 0

Position control mode MR-RB12 regenerative brake option is used.

0 2

Input filter 3.555ms (initial value) Electromagnetic brake interlock signal is not used. Used in incremental positioning system.

1 5

Middle response (initial value) is selected. Auto tuning mode 1 is selected.

1 Function selection 1

2 Auto tuning

3 Electronic gear numerator (CMX) 1 Electronic gear numerator 4 Electronic gear denominator (CDV) 1 Electronic gear denominator

Control mode, regenerative brake option selection

Turn the power off after setting parameters No. 0 and 1. Then switch power on again to make the set parameter values valid.

4 - 2

4. OPERATION

(4) Servo-on

Switch the servo-on in the following procedure:

1) Switch on power supply.

2) Switch on the servo-on signal (SON). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

(5) Command pulse input

Entry of a pu lse train f rom the po sitio ni ng d evic e ro tat e s the serv o moto r. A t f irs t, ru n it a t lo w spe ed and check the rotation direction, etc. If it does not run in the intended direction, check the input signal. On the status display, check the speed, command pulse frequency, load factor, etc. of the servo motor. When machine operation check is over, check automatic operation with the program of the positioning device. This servo amplifier has a real-time auto tuning func tion under model adaptive control. Performing operation automatically adjusts gains. The optimum tuning results are provided by setting the response level appropriate for the machine in parameter No. 2. (Refer to chapter 7)

(6) Home position return

Make home position return as required.

(7) Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that the stop pattern of stroke end (LSP/LSN) OFF is as described below. (a) Servo-on (SON) OFF

The base circuit is shut off and the servo motor coasts.

(b) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. Alarm AL.E6 o cc urs.

(d) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF

The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in the opposite direction.

4 - 3

4. OPERATION

4.2.3 Internal speed control mode (1) Power on

1) Switch off the servo-on (SON) signal.

2) When circuit power is switched on, the display shows "r (servo motor speed)", and in two second later, shows data.

(2) Test operation

Using jog operation in the test operation mode, make sure that the servo motor oper ates. (Refer to Section 6.8. 2 . )

(3) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for the parameter definitions and to Sections 6.5 for the setting method.

Parameter No. Name Setting Description

1 Function selection 1

2 Auto tuning

8 Internal speed command 1 1000 Set 1000r/min.

9 Internal speed command 2 1500 Set 1500r/min. 10 Internal speed command 3 2000 Set 2000r/min. 11 Acceleration time constant 1000 Set 1000ms. 12 Deceleration time constant 500 Set 500ms.

Control mode, regenerative brake option selection

S-pattern acceleration/deceleration time constant

0 2

Internal speed control mode Regenerative brake option is not used.

1 2

Input filter 3.555ms (initial value) Electromagnetic brake interlock signal (MBR) is used.

1 5

Middle response (initial value) is selected. Auto tuning mode 1 is selected.

0 Not used

Turn the power off after setting parameters No. 0 and 1. Then switch power on again to make the set parameter values valid.

(4) Servo-on

Switch the servo-on in the following procedure:

1) Switch on circuit power supply.

2) Switch on the servo-on signal (SON). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

(5) Start

Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on forward rotation start (ST1) to run the motor in the forward rotation (CCW) direction or reverse rotation start (ST2) to run it in the reverse rotation (CW) direction. At fir s t, set a low spee d and chec k the rotation direction, etc. If it does not run in the intended direction, check the input signal. On the status display, check the speed, load factor, etc. of the servo motor. When machine operation check is over, check automatic operation with the host controller or the like. This servo amplifier has a real-time auto tuning func tion under model adaptive control. Performing operation automatically adjusts gains. The optimum tuning results are provided by setting the response level appropriate for the machine in parameter No. 2. (Refer to chapter 7)

4 - 4

4. OPERATION

(6) Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start (ST1) or reverse rotation start (ST2) signal has the same stop pattern as described below. (a) Servo-on (SON) OFF

The base circuit is shut off and the servo motor coasts.

(b) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. Alarm AL.E6 o cc urs.

(d) Stroke end (LSP/LSN) OFF

The servo motor is brought to a sudden stop and servo-locked. The motor may be run in the opposite direction.

(e) Simultaneous ON or simultaneous OFF of forward rotation start (ST1) and reverse rotation start

(ST2) signals

The servo motor is decelerated to a stop.

POINT

A sudden stop indicates deceleration to a stop at the deceleration time constant of zero.

4 - 5

4. OPERATION

MEMO

4 - 6

5. PARAMETERS

CAUTION

instable.

5.1 Parameter list

5.1.1 Parameter write inhibit POINT

After setting the parameter No. 19 value, switch power off, then on to make that setting valid.

This servo amplifier, its parameters are classified into the basic parameters (No. 0 to 19), expansion parameters 1 (No. 20 to 49) and expan sion parame ters 2 (No.50 to 84) according to th eir safe ty aspe cts and frequencies of use. In the factory setting condition, the customer can change the basic parameter values but cannot change the expansion parameter values. When fine adjustment, e.g. gain adjustment, is required, change the parameter No. 19 setting to make the expansion parameters write-enabled. The following table indicates the parameters which are enabled for reference and write by the setting of

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

parameter No. 19. Operation can be performed for the parameters marked

Parameter No. 19 setting Operation

0000

(initial value)

000A

000B

000C

000E

100B

100C

100E

Reference

Write

Reference No. 19 only

Write No. 19 only

Reference

Write

Reference

Write

Reference

Write

Reference

Write No. 19 only

Reference

Write No. 19 only

Reference

Write No. 19 only

Basic parameters

No. 0 to No. 19

Expansion parameters 1

No. 20 to No. 49

Expansion parameters 2

No. 50 to No. 84

5 - 1

5. PARAMETERS

5.1.2 Lists

(1) Item list

No. Symbol Name

0 *STY Control m ode ,regenerat ive brake opt ion selection P S 1 *OP1 Function selection 1 P S 0002 2 ATU Auto tuning P S 0105 3 CMX Electronic gear numerator P 1 4 CDV Electronic gear denominator P 1 5 INP In-position range P 100 pulse 6 PG1 Position loop gain 1 P 35 rad/s

7PST 8 SC1 Internal speed command 1 S 100 r/min

9 SC2 Internal speed command 2 S 500 r/min 10 SC3 Inte rnal spee d command 3 S 1000 r/mi n 11 STA Acceleration time constant S 0 ms

Basic parameters

12 STB Deceleration time constant S 0 ms 13 STC S-pattern acceleration/deceleration time constant S 0 ms 14 For manufacturer setting 0 15 *SNO Station number setting P S0station 16 *BP S Serial communication function selection, alarm history clear P S 0000 17 MOD Analog monitor output P S 0100 18 *DMD Status display selection P S 0000 19 *BLK Parameter block P S 0000

POINT

For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.

The symbols in the control mode column of the table indicate the following modes: P : Position control mode S : Internal speed control mode

Unit

Customer

Position command acceleration/deceleration time constant (Smoothing)

Control

mode

Initial value

(Note 1)

P3ms

setting

5 - 2

5. PARAMETERS

No. Symbol Name

20 *OP2 Function selection 2 P S 0000 21 *O P 3 Function selection 3 (Command pulse selection) P 0000 22 *OP4 Function selection 4 P S 0000 23 FFC Feed forward gain P 0 % 24 ZSP Zero spe ed P S50r/min 25 For manufacturer setting 26 For manufacturer setting 100

27 *ENR Encoder out put pulses P S 4000 28 TL1 Internal torque limit 1 P S 100 %

29 For manufacturer setting 0 30 For manufacturer setting 0 31 MO1 Analog monitor 1 offset P S0mV 32 MO2 Analog monitor 2 offset P S0mV 33 MBR Electromagnetic brake sequence output P S 100 ms

34 GD2 Ratio of load inertia moment to servo motor inertia moment P S70 35 PG2 Position loop gain 2 P 35 rad/s

36 VG1 Speed loop gain 1 P S 177 rad/s

Expansion parameters 1

37 VG2 Speed loop gain 2 P S 817 rad/s 38 VIC Speed integral compensation P S48ms 39 VDC Spe ed differential compensation P S 980 40 For manufacturer setting 0 41 *DIA Input signal automatic ON selection P S 0000 42 * DI1 Input signal selection 1 P S 0002 43 * DI2 Input signal selection 2 (CN1-4) P S 0111 44 * DI3 Input signal selection 3 (CN1-3) P S 0882 45 * DI4 Input signal selection 4 (CN1-5) P S 0995 46 * DI5 Input signal selection 5 (CN1-6) P S 0000 47 * DI6 Input signal selection 6 (CN1-7) P S 0000 48 *LSPN LSP LSN input terminals selection P S 0403 49 *DO1 Output signal selection 1 P S 0000

Control

mode

Initial value

Unit

pulse

/rev

0.1

times

Customer

setting

5 - 3

5. PARAMETERS

No. Symbol Name

50 For manufacturer setting 0000 51 *OP6 Function selection 6 P S 0000 52 For manufacturer setting 0000 53 *OP8 Function selection 8 P S 0000 54 *OP9 Function selection 9 P S 0000 55 *OPA Function selection A P 0000 56 SIC Serial communication time-out selection P S0 s 57 For manufacturer setting 10 58 NH1 Machine resonance suppression filter 1 P S 0000 59 NH2 Machine resonance suppression filter 2 P S 0000 60 LPF Lo w-pass filter, adaptive vibration suppression control P S 0000

61 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 P S70 62 PG2B Position control gain 2 changing ratio P 100 %

63 VG2B Speed control gain 2 changing ratio P S 100 % 64 VICB Speed integral compensation changing ratio P S 100 % 65 *CDP Gain changing selection P S 0000 66 CDS Gain changing condition P S10 67 CDT Gain changing time constant P S1ms 68 For manufacturer setting 0 69 CMX2 Command pulse multiplying factor numerator 2 P 1

Expansion parameters 2

70 CMX3 Command pulse multiplying factor numerator 3 P 1 71 CMX4 Command pulse multiplying factor numerator 4 P 1 72 SC4 Internal speed command 4 S 200 r/min 73 SC5 Internal speed command 5 S 300 r/min 74 SC6 Internal speed command 6 S 500 r/min 75 SC7 Internal speed command 7 S 800 r/min 76 TL2 Internal torque limit 2 P S 100 % 77 100 78 10000 79 10 80 10 81 100 82 100 83 100 84

Note 1. Depends on the capacity of the servo amplifier.

2. Depends on the parameter No. 65 setting.

For manufacturer setting

Control

mode

Initial value

0000

Unit

0.1

times

(Note 2)

Customer

setting

5 - 4

5. PARAMETERS

(2) Details list

Class No. Symbol Name and function

0*STY 100W

Basic parameters

Control mode, regenerative brake option selecti on

Used to select the control mode and regenerative brake option.

Select the control mode. 0:Position 1:Position and internal speed 2:Internal speed

Motor series selection 0:HC-KFE 1:HC-SFE

Selection of regenerative brake option 0:Not used (The built-in regenerative brake resistor used.) 2:MR-RB032 3:MR-RB12 4:MR-RB32 5:MR-RB30 6:MR-RB50

Motor capacity selection 0:100W 1:200W 2:400W 3:500W 4:750W 5:1kW 6:1.5kW 7:2kW

POINT

Wrong setting may cause the regenerative brake option to burn. If the regenerative brake option selected is not for use with the servo amplifier, parameter error (AL.37) occurs.

Initial value

: 0000

200W : 1000

400W : 2000

750W : 4000

1kW : 5010

2kW : 6010

Unit

Setting

range

Refer to Name and function column.

Control

mode

P S

1 *OP1 Function selection 1

Used to select the input signal filter, the function of pin CN1-12.

Input signal filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0:None 1:1.777[ms] 2:3.555[ms]

3:5.333[ms] CN1-12 function selection 0:Zero Speed detection signal 1:Electromagnetic brake interlock signal

5 - 5

0002

Refer to Name and function column.

P S

5. PARAMETERS

Class No. Symbol Name and function

2 ATU Auto tuning

Used to selection the response level, etc. for execution of auto tuning. Refer to Chapter 7.

0 0

Auto tuning response lev el set ti ng

Set

Response

value

1 2 3 4 5 6 7 8

9 A B C D E F300Hz

If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase

Basic parameters

the set value. Gain adjustment mode selection (For more information, refer to Section 7.1.1.)

Set

value

1 2

3 Simple manual adjustment. 4 Manual adjustment of all gains.

level

Low

response

Middle

response

High

response

Gain adjustment mod e

Interpolation mode

Auto tuning mode 1 Auto tuning mode 2

Manual mode 1 Manual mode 2

Machine resonance frequency guideline

15Hz 20Hz 25Hz 30Hz 35Hz 45Hz 55Hz 70Hz

85Hz 105Hz 130Hz 160Hz 200Hz 240Hz

Description

Fixes position control ga i n 1 (paramete r N o . 6). Ordinary auto tuning. Fixes the load inertia moment ratio set in parameter No. 34. Response level setting can be changed.

Initial value

0105

Unit

Setting

range

Refer to Name and function column.

Control

mode

P S

3 CMX Electronic gear nume ra t or

Used to set the electronic gea r nu m erator value. For the setting, refer to Section 5.2.1. Setting "0" automatically sets the resolution of the servo motor connected.

4 CDV Electronic gear denominator

Used to set the electronic gear denominator value. For the setting, refer to Section 5.2.1.

5 - 6

65535

5. PARAMETERS

Class No. Symbol Name and function

5 INP In-position range

Used to set the in-position signal (INP) output range in the command pulse incremen ts prior to electronic gear calculation.

6 PG1 Position loop gain 1

Used to set the gain of position loop. Increase the gain to improve trackability in response to the position command. When auto turning mode 1,2 is selected, the result of auto turning is automatically used.

7PST

Position command a c c el era t i on/deceleration time constant (position smoothing) Used to set the time constant of a low pass filter in response to the position command . You can use parameter No. 55 to choose the primary delay or linear acceleration/deceleration control system. When you choose linear acceleration/deceleration, the setting range is 0 to 10ms. Setting of longer than 10ms is recognized as 10ms.

POINT

When you have chosen linear acceleration/deceleration, do not select control selection (parameter No. 0) and restart after instantaneous power failure (parameter No. 20). Doing so will cause the servo motor to make a sudden stop at the time of position control switching or restart.

Example: When a command is given from a synchronizing detector, synchronous operation can be started smoothly if started during line operation.

Initial value

Unit

Setting

range

100 pulse 0

10000

35 red/s 4

2000

3ms0

20000

Control

mode

Basic parameters

8 SC1 Internal speed command 1

Used to set speed 1 of internal speed commands.

Start

Without time constant setting

Servo motor

speed

ON OFF

Start

Synchronizing detector

Servo motor

Servo amplifier

With time constant setting

100 r/min

0 to

instan-

taneous

permi-

ssible speed

5 - 7

5. PARAMETERS

Class No. Symbol Name and function

9 SC2 Internal speed command 2

Used to set speed 2 of internal speed commands.

10 SC3 Internal speed command 3

Used to set speed 3 of internal speed commands.

11 STA

Acceleration time constant

Used to set the acceleration time required to reach the rated speed from 0r/min in response to the internal speed commands 1 to 7.

If the preset speed command is

Speed

Rated

lower than the rated speed, acceleration/deceleration time will be shorter.

speed

Zero speed

Parameter No.11 setting

Parameter No.12 setting

Tim

Initial value

Unit

500 r/min

1000 r/min

ms 0

Setting

range

0 to

instan-

taneous

permi-

ssible speed

0 to

instan-

taneous

permi-

ssible speed

20000

Control

mode

For example for the servo motor of 3000r/min rated speed, set 3000 (3s) to increase speed from 0r/min to 1000r/min in 1 second.

12 STB

Deceleration time constant

Used to set the deceleration time required to reach 0r/min from the rated speed in response to the internal speed commands 1 to 7.

13 STC S-pattern acceleration/deceleration time constant

Basic parameters

Used to smooth start/stop of the servo motor. Set the time of the arc part for S-pattern acceleration/deceleration.

Speed command

Speed

Servo motor

0r/min

STA STC

STC

STA: Acceleration time constant (parameter No.11) STB: Deceleration time constant (parameter No.12) STC: S-pattern acceleration/deceleration time con-

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

(Example)

During acceleration: 100[ms]

During deceleration: 200[ms]

stant (parameter No.13)

for acceleration or by for deceleration.

At the setting of STA 20000, STB 5000 and STC 200, the actual arc part times are as follows:

2000000

STB

Limited to 100[ms] since

2000000

20000

200[ms] as set since

2000000

5000

STC STB

100[ms] 200[ms].

400[ms] 200[ms].

STC

Time

0ms0

1000

5 - 8

5. PARAMETERS

Class No. Symbol Name and function

14 For manufacturer setting

Don’t change this value by any means.

15 *SNO Station number setting

Used to specify the station number for serial communication. Always set one station to one axis of servo amplifier. If one station number is set to two or more stations, normal communication cannot be made.

16 *BPS Serial communication function selection, alarm history clear

Used to select the serial communication baudrate, select various communication conditions, and clear the alarm history.

Serial baudrate selection 0: 9600 [bps] 1: 19200[bps] 2: 38400[bps] 3: 57600[bps]

Alarm history clear 0: Invalid 1: Valid When alarm history clear is made valid, the alarm history is cleared at next power-on. After the alarm history is cleared, the setting is automatically made invalid (reset to 0).

Serial communication response delay time 0: Invalid 1: Valid, reply sent after delay time of 800 s or more

Basic parameters

17 MOD Analog monitor output

Used to selectio n the sign al provided to the an alog monitor (MO1)

analog monitor (MO2) output. (Refer to Section 5.2.2)

Initial value

0000

0100

Unit

0sta-

tion0to

Setting

range

Refer to Name and function column.

Control

mode

P S

Setting

Analog monitor 2 (MO2)

Servo motor speed ( 8V/max. speed) 1 Torque ( 8V/max. torque) 2 Servo moto r sp eed ( 8V/max. speed) 3 Torque ( 8V/max. torque) 4 Current command ( 8V/max. current command ) 5 Command pulse frequency ( 10V/500kpulse/s) 6 Droop pulses ( 10V/128 pulses) 7 Droop pulses ( 10V/2048 pulses) 8 Droop pulses ( 10V/8192 pulses) 9 Droop pulses ( 10V/32768 pulses) A Droop pulses ( 10V/131072 pulses) B Bus voltage ( 8V/400V)

Analog monitor 1 (MO1)

5 - 9

5. PARAMETERS

Class No. Symbol Name and function

18 *

Status display selectio n

DMD

Used to select the status display shown at power-on.

0 0

Selection of status display at power-on 0: Cumulative feedback pulses 1: Servo motor speed 2: Droop pulses 3: Cumulative command pulses 4: Command pulse frequency 7: Regenerativ e load ratio 8: Effective load ratio 9: Peak load rati o A: Instantaneous torque B: Within one-revolution position low C: Within one-revolution position high D: Load inertia moment ratio E: Bus voltage

Status display at power-on in corresponding control mode 0: Depends on the control mode.

Control Mode

Position

Position/internal speed

Internal speed

1: Depends on the first digit setting of this parameter.

Initial value

0000

Unit

Setting

range

Refer to Name and function column.

Status display at power-on

Cumulative feedback pulses

Cumulative feedback pulses/servo motor speed

Servo motor speed

Control

mode

P S

Basic parameters

19 *BLK 0000

Parameter block

Used to select the reference and write ranges of the parameters. Operation can be performed for the parameters marked

Set

value

Operation

Basic

parameters

No. 0

to No. 19

Expansion

parameters 1

No. 20

to No. 49

Expansion

parameters 2

No. 50

to No. 84

Reference0000

(Initial

value)

000A

000B

000C

000E

100B

100C

100E

Write

Reference No. 19 only

Write No. 19 only

Reference

Write

Reference

Write

Reference

Write

Reference

Write No. 19 only

Reference

Write No. 19 only

Reference

Write No. 19 only

Refer to Name and function column.

P S

5 - 10

5. PARAMETERS

Class No. Symbol Name and function

20 *OP2 0000

Function selection 2

Used to select restart after instantaneous power failure, servo lock at a stop in internal speed control mode, and slight vibration suppression control.

Restart after instantaneous power failure

If the input power supply voltage had reduced in the internal speed control mode to stop the servo motor due to the undervoltage alarm (AL.10) but the supply voltage has returned to normal, the servo motor can be restarted by merely switching on the start signal without resetting the alarm.

0: Invalid 1: Valid

Stop-time servo lock selection

The shaft can be servo-locked to remain still at a stop in th e in te rn a l speed control mode.

0: Valid 1: Invalid

Initial value

Unit

Setting

range

Refer to Name and function column.

Control

mode

Slight vibration suppression control

Made valid when auto tuning selection is set to "0400" in parameter No. 2. Used to suppress vibration at a stop.

Expansion parameters 1

0: Invalid

1: Valid In case of the internal speed control mode, set "1" at the second digit and validate servo lock at stop to use this setting.

Encoder cable communication system selection

0: Two-wire type 1: Four-wire type

Incorrect setting will result in an encoder alarm 1 (AL. 16) or encoder alarm 2 (AL. 20).

21 *OP3 Function selection 3 (Command pulse selection)

Used to select the input form of the pulse train input signal. (Refer to Section 3.4.1.)

0 0

Command pulse train input form 0: Forward/reverse rotation pulse train 1: Signed pulse train 2: A/B phase pulse train

Pulse train lo gic selec tion 0: Positive logic 1: Negative logic

0000

Refer to Name and function column.

P S

5 - 11

5. PARAMETERS

Class No. Symbol Name and function

22 *OP4 Function selection 4

Used to select stop processing at forward rotation stroke end (LSP) reverse rotation stroke end (LSN)

23 FFC

Expansion parameters 1

24 ZSP Zero speed

25 For manufacturer setting

26 For manufacturer setting

Feed forward gain

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 1s or more as the acceleration/deceleration time constant up to the rated speed.

Used to set the output range of the zero speed (ZSP).

Don’t change this value by any means.

off and choose TLC/VLC output.

How to make a stop when forward rotation stroke end (LSP) reverse rotation stroke end (LSN)

is valid. (Refer to Section 5.2.3.) 0: Sudden stop 1: Slow stop

Initial value

0000

0%0

50 r/min 0

100

Unit

Setting

range

Refer to Name and function column.

100

10000

Control

mode

P S

5 - 12

5. PARAMETERS

Class No. Symbol Name and function

27 *ENR Encoder output pulses

28 TL1

Expansion parameters 1

29 For manufacturer setting

30 For manufacturer setting

31 MO1 Analog monitor 1 offset

32 MO2 Analog monitor 2 offset

33 MBR Electromagnetic brake sequence output

34 GD2 Ratio of load inertia moment to servo motor inertia moment

Used to set the encoder pulses (A-phase or B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No. 54 to choose the output pulse designation or output division ratio setting. The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 1.3Mpps (after multiplication by

4). Use this parameter within this range. For output pulse designation

Set " 0

" (initial value) in parameter No. 54. Set the number of pulses per servo motor revolution. Output pulse At the setting of 5600, for example, the actually output A/B-phase pulses are as indicated below:

A B-phase output pulses 1 400 [pulse]

For output division ratio setting

Set " 1 The number of pulses per ser v o motor revolution is divi ded by the set value.

Output pulse

At the setting of 8, for example, the actually output A/B-phase pulses are as indicated below:

A B-phase output pulses 313[puls e]

Interna l torque limit 1

Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%]. When 0 is set, torq ue is not pro d uced.

(Note)

External

input

signals

TL1

0 Internal torque limit value 1 (parameter No. 28) 1 Parameter No. 76 Parameter No. 28: Parameter No. 28

Note.0 :off

1 :on

When torque is output in analog monitor output, this set value is the maximum output voltage (

Don’t change this value by any means.

Used to set the offset voltage of the analog monitor 1 (MO1).

Used to set the offset voltage of the analog monitor 2 (MO2).

Used to set the delay time (Tb) between electronic brake interlock (MBR) and the base drive circuit is shut-off.

Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 7.1.1) In this case, it varies between 0 and 1000.

set value [pulses/rev]

5600

" in parameter No. 54.

Resolution per servo motor revol ution

Set value

1000041

Torque limit value made valid

Parameter No. 76

Parameter No. 28: Parameter No. 76

8V). (Refer to Section 3.4.1, (5))

[pulses/rev]

Initial value

4000 pulse/

100 % 0

100 ms 0

70 0.1

Setting

Unit

rev

65535

to 999

times0to

range

100

999

1000

3000

Control

mode

P S

5 - 13

5. PARAMETERS

Class No. Symbol Name and function

35 PG2 Position loop gain 2

Used to set the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used.

36 VG1 Speed loop gain 1

Normally this parameter setting need not be changed. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1 is selected, the result of auto tuning is automatically used.

37 VG2 Speed loop gain 2

Set this parameter when vibration occurs on machines of low rigidity or large backlash. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1 result of auto tuning is automatically used.

38 VIC Speed integral compensation

Used to set the integral time constant of the speed loop. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1 result of auto tuning is automatically used.

39 VDC Speed differential compensation

Used to set the differential compensation. Made valid when the proportion control (PC) is switched on.

40 For manufacturer setting

Expansion parameters 1

41 *DIA Input signal automatic ON selection

Don’t change this value by any means.

Used to set automatic servo-on (SON) (LSP)

reverse rotation stroke end (LSN).

2, manual mode and interpolation mode

2 and interpolation mode is selected, the

Servo-on (SON) input selection

0: Switched on/off by external input. 1: Switched on automatically in servo amplifier. (No need of external wiring)

Forward rotation stroke end (LSP) input selection

0: Switched on/off by external input. 1: Switched on automatically in servo amplifier. (No need of external wiring)

Reverse rotation stroke end (LSN) input selection

0: Switched on/off by external input. 1: Switched on automatically in servo amplifier. (No need of external wiring)

forward rotation stroke end

Initial value

35 rad/s 1

177 rad/s 20

817 rad/s 20

48 ms 1

980 0

0000

Unit

Setting

range

1000

8000

20000

1000

Refer to Name and function column.

Control

mode

P S

5 - 14

5. PARAMETERS

Class No. Symbol Name and function

Input signal selection 1

*DI1 0002

Used to assign the control mode changing signal input pi ns and to set the clear (CR).

0 0

Control change (LOP) input pin assignment Used to set the control mode change signal input connector pins. Note that this parameter is made valid when parameter No. 0 is set to select the posi tio n/internal speed change mode.

Set value

0 1 2

Expansion parameters 1

3CN1-6 4CN1-7

If forward rota tion stroke end ( LSP) or reverse rotation stroke end (LSN) is assigned to any pin with parameter No. 48, this sett ing is invalid.

Connector pin No.

CN1-4 CN1-3 CN1-5

Initial

value

Unit

Setting

range

Refer to Name and function column.

Control

mode

P/S

Clear (CR) selection

0: Droop pulses are cleared on the

leading edge. 1: While turning on, droop pulses are always cleared.

5 - 15

Mitsubishi Electronics MR-E- A-AG User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

About processing of waste

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDARD

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

1.2 Function block diagram

1.3 Servo amplifier standard specifications

1.4 Function list

1.5 Model code definition (1) Rating plate

1.6 Combination with servo motor

1.7 Parts identification (1) MR-E-100A or less

1.8 Servo system with auxiliar y equipm ent To prevent an electric shock, always connect the protective earth (PE) terminal

2. INSTALLATION

2.1 Environmental con dit ions

2.2 Installation direction and clearances The equipment mus t be installe d in the specif ied direc tion. Other wise, a fau lt ma y

2.3 Keep out foreign materials

2.4 Cable stress

3. SIGNALS AND WIRING

3.1 Standard connection example

3.1.1 Position control mode

3.1.2 Internal speed control mode

3.2 Internal connection diagram of servo amplifier

3.3 I/O signals

3.3.1 Connectors and signal arrangements POINT

3.3.2 Signal explanations

3.4 Detailed description of the signals

3.4.1 Position control mode (1) Pulse trai n inpu t

3.4.2 Internal speed control mode (1) Speed setting

3.4.3 Position/internal speed control change mode

3.5 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation

3.6 Interfaces

3.6.1 Common line

3.6.2 Detailed description of the interfaces

3.7 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo

3.7.1 Connection example

3.7.2 Terminals

3.7.3 Power-on sequence

3.8 Connection of servo amplifier and servo motor

3.8.1 Connection instructions

3.8.2 Connection diagram

3.8.3 I/O terminals (1) HC-KFE series

3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only

3.10 Grounding Ground the servo amplifier and servo motor securely.

3.12 Instructions for the 3M connector

4. OPERATION

4.1 When switching power on for the first time

4.2 Startup

4.2.1 Selection of control mode

4.2.2 Position control mode (1) Power on

4.2.3 Internal speed control mode (1) Power on

5. PARAMETERS

5.1 Parameter list

5.1.1 Parameter write inhibit POINT

5.1.2 Lists