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Mitsubishi Electronics
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MR-E- A-AG
User Manual
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Mitsubishi Electronics MR-E- A-AG User Manual

General-Purpose AC Servo
MODEL
MR-E- A/AG
INSTRUCTION MANUAL
B

Safety Instructions

(Always read these instructions before using the equipment.)
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.
.
.
A - 1
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
2
[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
RA
Servo Amplifier
Control output
signal
External
24VDC
RA
(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
MC
24VDC power supply
Servo amplifier
Servo motor
SM
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.
A - 7
(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
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (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
(c) Use the EMC filter for noise reduction.
(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).
A - 8

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
3
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

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10
1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Function block diagram ..........................................................................................................................1- 2
1.3 Servo amplifier standard specifications................................................................................................1- 3
1.4 Function list.............................................................................................................. ...............................1- 4
1.5 Model code definition ..............................................................................................................................1- 6
1.6 Combination with servo motor............................................................................................... ................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
1
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
2
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
3
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
4
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
5
MEMO
6

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi MR-E series general-purpose AC servo is based on the MR-J2-Super series, and has the same high performance and limited functions. It has position control and internal speed control modes. Further, it can perform operation with the control modes changed, e.g. 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
1
L
2
L
3
L
Regene rative br ake
RADS
Regenerative TR
CHARGE
Fan
(MR-E-200A only)
Control
power
supply
Base amplifier
P
lamp
D
C
(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
SM
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.
1
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
1
(L
, 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
2
] 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
P
P
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
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.
UP
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
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.
UP
SET
Used to set data.
Used to change the display or data in each mode.
Used to change the mode.
Refer to
Chapter6
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
3
L
2
L
1
L
P
Regenerative option
C
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
1 - 9
1. FUNCTIONS AND CONFIGURATION
f
(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
L
1
L
2
L
3
C
P
Regene rative option
CHARGE
UVW
To CNP2
CNP2
1 - 10

2. INSTALLATION

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
2
] 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
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