Mitsubishi Electric GENERAL PURPOSE AC SERVO MR-E- A/AG, MR-E-A, MR-E-AG Instruction Manual

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General-Purpose AC Servo

MODEL

MR-E- A/AG

INSTRUCTION MANUAL

A - 1

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, oper ate, mainta in or inspect the s ervo amplif ier and servo m otor until you hav e read through this I nstruction M anual, Insta llation guide, Servo motor Instruction Manual a nd appende d docum ents carefully and can use the equipment corr ect l y. D o not use the ser 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".

WARNING

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

CAUTION

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

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols:

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

: Indicates what must be do ne . Fo r exa mple , gr ou nd ing i s 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 - 2

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 fier 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, st ressed, loaded, or pin ched. Othe rwise, y ou may get an ele ctric shock.

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.

A - 3

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:

Conditions

Environment

Servo amplifier Servo motor

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

Ambient temperature

[

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

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

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

Storage temperature

[

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

HC-KFE Series X Y : 49

HC-SFE52 to 152 X Y : 24.5

[m/s2] 5.9 or less

HC-SFE202

X : 24.5 Y : 49

HC-KFE Series X Y : 161

HC-SFE52 to 152 X Y : 80

(Note) Vibration

[ft/s

] 19.4 or less

HC-SFE202

X : 80 Y : 161

Note: Except the servo motor with reduction gear.

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.

A - 4

(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 absorbing dio de in stal le d on th e DC ou t put si gna l rel ay must be wired in the speci fie d di re ctio n .

Otherwise, the emergency stop and other protective circuits may not operate.

External

24VDC

Servo Amplifier

Control output

signal

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 extern al emergenc y stop c ircuit to ensure that oper ation ca n be sto pped and 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 ignal i s of f to pre vent an accid ent. A s udde 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 e lectromagnetic int erf erenc e, which m a y be c aus ed 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 hol d the m otor shaf t. To ensur e safet y, install a stoppe r on the mach in e side .

A - 5

(5) Corrective actions

CAUTION

When it is assu med 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 the e lectromagnet ic brake circu it so that it is activated not only by the servo ampl ifier signa ls but also by an external emergency stop signal (EMG).

EMGRA

24VDC

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

Electromagnetic brake

Servo motor

Circuit must be opened during emergency stop signal.

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

When power is restor ed after an insta ntaneous po wer failure, keep awa y from the m achine beca use the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

(6) Storage for serv o mo tor

CAUTION

Note the follow ing 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 m otor 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 prod uct after stor age for an extend ed pe ri od of tim e, h and-tur n the m otor out put sh aft t o

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 instructi o n

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

A - 6

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 par a mete r set tin g ch an ges

A - 7

COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRE CTI VES ?

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 dir ective (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

Reinforced insulating transformer

NFB

No-fuse breaker

Magnetic contactor

Reinforced insulating type

24VDC power supply

Servo amplifier

Servo motor

Control box

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 - 8

(5) Grounding

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

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

(b) Do not con nect two g round cable s 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 ampli fi er mus t b e c onne ct ed t o t h e c orr es pondi n g eart h t ermi nal s.

(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 mee t the following requ irements. To meet th e

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 run 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 specifications. For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation Guidelines(IB(NA)67310).

A - 9

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 1 00CFM (2.8 m

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

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 disch arg e time is as li sted below . To ensu re saf ety , do no t to uch the ch argin g sec tion f or 10 minutes after power-off.

Servo amplifier

Discharge time

[min]

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 prot ecti 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

Manual name Manual No.

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

A - 10

MEMO

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

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-

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

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

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

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

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

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

15.1.5 Parts identification.......................................................................................................................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

MEMO

1 - 1

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 i s i m po se d o n the servo am plifier by the c lam p circuit to pr o tect the po w e r transistor 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 mod e

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 - 2

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

Regenerative brake option

Servo amplifier

Current

detector

CHARGE

lamp

Servo motor

Regenerative TR

(Note 1)

Regene rative brake

Base amplifier

Voltage

detection

Overcurrent

protection

Encoder

Dynamic

brake

Control

power

supply

Fan

(MR-E-200A only)

Electromagnetic brake

Current

detection

Model position

control

Model speed

control

Pulse

input

Model position

Actual position

control

Actual speed

control

Current

control

Model torque

Virtual

motor

Virtual

encoder

Model speed

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

Controller

Analog monitor (2 channels)

RADS

NFB MC

CN1

CN3

RS-232C

I/F

CN2

U V W

RS-232C D/A

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

(Note 2)

(Note 3)

(Note 3)(Note 3)

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 (L

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

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Servo Amplifier

MR-E-

Item

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

Voltage/frequency

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

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

Permissible voltage fluctuation

3-phase 200 to 230VAC: 170 to 253VAC 1-phase 230VAC: 207 to 253VAC

3-phase 170 to 253VAC

Permissible frequency fluctuation Within 5%

Power supply

Power supply capacity Refer to Section12.2 System Sine-wave PWM control, curr ent c ontr ol syste m Dynamic brake Built-in

Protective functions

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

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

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

Error excessive 10 revolutions

Position control mode

Torque limit Set by parameter setting

Speed control range Internal speed command 1: 5000

Speed fluctuation ratio

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

10%)

Internal speed

control mode

Torque limit Set by parameter setting

Structure Self-cooled, open (IP0 0)

Force-cooling,

open (IP00)

[ ]0 to 55 (non-freezing)

Operation

[

] 32 to 131 (non-freezing)

[ ] 20 to 65 (non-freezing)

Ambient temperature

Storage

[

] 4 to 149 (non-freezing)

Operation

Ambient humidity

Storage

90%RH or less (n on- c o n d en si n g)

Ambient

Indoors (no direct s un li g ht ) Free from corrosive gas, flammable gas, oil mist, dust and dirt

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

5.9 [m/s2] or less

Environment

Vibration

19.4 [ft/s

] or less

[kg] 0.8 0.8 1.2 1.8 1.8 2.0

Weight

[lb] 1.8 1.8 2.6 4.0 4.0 4.4

1 - 4

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

(Note)

Control mode

Refer to

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

Section 3.1.1 Section 3.4.1 Section 4.2.2

Internal speed control mode This servo is used as internal spe ed control servo. S

Section 3.1.2 Section 3.4.2

Section 4.2.3 Position/internal speed control change mode

Using external input signal, control can be switched between position control and internal speed control.

P/S Section 3.4.4

High-resolut ion encoder

High-resolution encoder of 131072 pulses/rev is used as a servo motor e ncoder.

P, S, T

Gain changing function

You can switch between gains during rotation and gains during stop or use an external input signal to change gains during operation.

P, S Section 8.5

Adaptive vibration suppression control

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

P, S Section 8.3

Low-pass filter

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

P, S Section 8.4

Machine analyzer function

Analyzes the frequency characteristic of the mechanical system by simply connecting a servo configuration softwareinstalled personal computer and servo amplifier.

Machine simulation

Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results.

Gain search function

Personal computer changes gains automatically and searches for overshoot-free gains in a short time.

Slight vibration suppression control

Suppresses vibration of 1 pulse produced at a servo motor stop.

P Parameter No. 20

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

Parameters No. 3, 4,

69 to 71 Auto tuning

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

P, S Chapter 7

Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No. 7 S-pattern acceleration/ deceleration time constant

Speed can be increased and decreased smoothly. S Parameter No. 13

Regenerative brake option

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

P, S Section 13.1.1

1 - 5

1. FUNCTIONS AND CONFIGURATION

Function Description

(Note)

Control mode

Refer to

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

power failure

If the input power supply volt age had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal.

S Parameter No. 20

Command pulse selection

Command pulse train form can be selected from among four different types.

P Parameter No. 21

Input signal selection

Forward rotation start, reverse rotation start, servo-on and other input signals can be assigned to any pins.

P, S

Parameters

No. 43 to 48 Torque limit Servo motor torque can be limited to any value. P, S

Section 3.4.1 (5)

Parameter No. 28 Status display

Servo status is shown on the 5-digit, 7-segment LED display

P, S Section 6.2

External I/O signal display

ON/OFF statuses of external I/O signals are shown on the display.

P, S Section 6.6

Output signal (DO) forced output

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

P, S Section 6.7

Test operation mode

Servo motor can be run from the operation section of the servo amplifier without the star t signal entered.

P, S Section 6.8 Analog monitor output Servo status is output in terms of voltage in real time. P, S Parameter No. 17 Servo configuration s oft w are

Using a personal computer, parameter setting, test operation, status display, etc. can be performed.

P, S Section 13.1.8

Alarm code output

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

P, S Section 10.2.1

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

P/S: Position/internal speed control change mode

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition (1) Rating plate

MR-E-40A

MITSUBISHI

AC SERVO

MADE IN JAPAN

MODEL

MITSUBISHI ELECTRIC CORPORATION

AC SERVO

PASSED

POWER INPUT

OUTPUT SERIAL

:400W

:2.6A 3PH200-230V 50Hz

:2.6A3PH200-230V 60Hz

:170V 0-360Hz 2.8A :XXXXYYYYY :TCXXXAYYYGZZ

Model Capacity

Applicable power supply

Rated output current Serial number

(2) Model

750

40 400

100

200

1000

200 2000

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

Rating plate Rating plate

Rating plate

Series

Rated output

General-purpose interface

Symbol

Rated output [W]

Symbol

Rated output [W]

- AMR - E

1.6 Combination with servo motor

The following table li st s combin a tions of servo amplifiers and servo mo to rs. T he sa me co mb ina t io ns ap ply to the models with electromagnetic brakes and the models with reduction gears.

Servo motors

Servo amplifier

HC-KFE

HC-SFE 2000r/min

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

1 - 7

1. FUNCTIONS AND CONFIGURATION

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

MODE

CN3

SET

CN1

CN2

CNP2

CNP1

L3L2 L1 D C P W V U

CHARGE

MITSUBISHI

MR-

Chapter6

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

Used to set data.

Used to change the display or data in each mode.

Used to change the mode.

MODE

DOWN

SET

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

Chapter6

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

I/O signal conn e ct or (CN1) Used to connect digital I/O signal s.

Section3.3

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

Section3.3

Section13.1.2

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.

Section3.10 Section11.1

Section3.3

Section13.1.2

Chapter14

Section3.7

Section11.1

Section3.7

Section11.1

Section13.1.1

Refer to

Name/Application

Motor power supply conn e ctor (CNP2) Used to connect the servo mo tor.

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

1 - 8

1. FUNCTIONS AND CONFIGURATION

(2) MR-E-200A

Refer to

Name/Application

Chapter6

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

Used to set data.

Used to change the display or data in each mode.

Used to change the mode.

MODE

DOWN

SET

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

Chapter6

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

Section3.3

Section13.1.2

Chapter14

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

Section3.3

Name plate

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

Encoder co nnector (C N2 ) Connector for connection of the servo motor enc oder.

Section1.5

Section3.3

Section13.1.2

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

Protective earth (PE) terminal ( ) Ground terminal.

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

Section3.7

Section11.1

Section3.7

Section11.1

Section13.1.1

Section3.10 Section11.1

Cooling fan

Installation notch (4 places)

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliary equipment

WARNING

To prevent an electric shock, always connect the protective earth (PE) terminal (terminal m ar k ed

) of the servo amplifier to the prot ective ear th (PE) of the contr ol

box.

(1) MR-E-100A or less

MODE

CN3

SET

CN1

CN2

CNP2

CNP1

L3L2 L1 D C P W V U

CHARGE

MITSUBISHI MR-E-

P C

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

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

To CN2

To CN1

To CN3

Protective earth (PE) terminal

Servo motor

Personal computer

Servo amplifier

Regenerative option

Options and auxiliary equipment

No-fuse breaker Magnetic contactor Servo configuration software

Regenera tive option

Refer to

Section 13.2.2 Section 13.2.2 Section 13.1.4

Section 13.1.1

(Note 1) Encoder cable

Options and auxiliary equipment

Refer to

Cables

Section 13.2.1

Command device

(Note 1) Power supply lead

Power factor improving reactor (FR-BAL)

Power factor improving reactor

Section 13.2.3

Servo configuration software MRZJW3-SETUP1

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 - 10

1. FUNCTIONS AND CONFIGURATION

(2) MR-E-200A

DC L3PL1L2

CHARGE

CNP2

CNP1

CN1

CN2

UVW

CN3

MODE

SET

MITSUBIS HI

EZMotion

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

Regene rative op ti on

Refer to Section 13.2.2 Section 13.2.2

Section 13.1.4

Section 13.1.1

Options and auxiliary equipment

Refer to

Cables Section 13.2.1 Power factor improving reactor

Section 13.2.3

Power

actor improving reactor (FR-BAL)

3-phase 200V to 230VAC power supply

No-fuse breaker (NFB) or fuse

Magnetic

contactor

(MC)

To CN2

To CN1

To CN3

Servo amplifier

Regene rative op ti on

Personal computer

Command device

Servo configuration software MRZJW3-SETUP1

To CNP2

2 - 1

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 conditions

Environment Conditions

[ ]0 to 55 (non-freezing)

Operation

[

] 32 to 131 (non-freezing)

[ ] 20 to 65 (non-freezing)

Ambient temperature

Storage

[

] 4 to 149 (non-freezing)

Operation

Ambient humidity

Storage

90%RH or less (non-condensing)

Ambience

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

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

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

Vibration

[ft/s

] 19.4 [ft/s2] or less

2 - 2

2. INSTALLATION

2.2 Installation direction and clearances

CAUTION

The equipment mus t be installe d in the specif ied direct ion. Other wise, a fau lt may occur.

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

(1) Installation of one servo amplifier

MODE

CN3

SET

CN1

CN2

CNP2

CNP1

L3L2 L1 D C P W V U

CHARGE

MITSUBISHI MR-

Control box Control box

10mm (0.4 in.) or more

40mm (1.6 in.) or more

Servo amplifier

40mm (1.6 in.) or more

Wiring clearance

Top

Bottom

(2.8 in.)

70mm

(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.

MODE

CN3

SET

CN1

CN2

CNP2

CNP1

L3L2 L1 D C P W V U

CHARGE

MITSUBISHI MR-

MODE

CN3

CN1

CN2

CNP2

CNP1

L3L2 L1 D C P W V U

CHARGE

MITSUBISHI MR-

SET

Control box

30mm (1.2 in.) or more

10mm (0.4 in.) or more

40mm (1.6 in.) or more

100mm (4.0 in.) or more

2 - 3

2. INSTALLATION

(3) Others

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

2.3 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chip s and wire fragmen ts from entering th e

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 con trol box in a place wher e there are much toxic g as, dirt and dust, co nduct an

air purge (force clean air into the control 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 flexi ng lif e 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 - 4

2. INSTALLATION

MEMO

3 - 1

3. SIGNALS AND WIRING

WARNING

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.

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.

CAUTION

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

Control output signal

External

24VDC

External

24VDC

Servo Amplifier

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 - 2

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

9,19

INP

RA1 RA2

ALM ZSP

LAR

LBR

4 3

MO1

MO2

VIN

VIN OP LG

OPC

VIN PP

SG NP

CR SG SD

1 21 14

1 23

13 25

5 13

1 2

14 13

7,17 8,18

9,19

3 4

1 2

4 5 6

START

STOP

FWD

RVS

DOG

LSR

COM1

ZRN

LSF

FX-10GM

CN3

LZR

7 13

EMG SON RES

LSP

LSN

1VIN

CN1

13 SG

SVRDY

COM2 COM2

SVEND

COM4

PGO

FPO

COM5

RPO

CLR

COM3

Positionin g mo du l e

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

Servo amplifier

(Note 8)

CN1

(Note2, 4)

(Note 6)

Trouble

Zero speed

Plate

(Note 8)

Plate

(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

10m(32ft) max.

(Note 7) Communic ation cable

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

(Note 8)

(Note 1)

CN1

(Note 8)

CN3

(Note 8)

10k

2m (6.5ft) max.

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Encoder Z-phase pulse (differential line driver)

External

power supply

24VDC

Plate

(Note 11)

3 - 3

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 circ uit s.

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 st roke 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 - 4

3. SIGNALS AND WIRING

(2) AD75P (A 1SD75P )

20 12 14

13 15

VIN INP

LZ CR PG

LZR

DOG

COM

RLS

START

CHG

FLS

STOP

COM

READY

COM INPS

CLEAR

PGO(24V)

PGO(5V)

PGO COM

CLEAR COM

PULSE FPULSE F+ PULSE R-

PULSE R+

PULSE F

PULSE COM

PULSE R

PULSE COM

LAR

LBR

4 3

MO1

MO2

CN3

8 4 3 6 7

EMG SON RES

LSP

LSN

CN1

CN3

CN1

RA1

RA2

ALM ZSP

1VIN

CN1

13 SG

19 20

5 13 22 23 24 25 14

(Note 8)

24VDC

Positioning module

AD75P

(A1SD75P )

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

Servo ampl ifier

(Note 2, 4)

(Note 6)

Trouble

Zero speed

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common Encoder Z-phase pulse

(open collector)

(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 1)

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

2m(6.5ft) max.

(Note 11)

10k

(Note 8)

Plate

External

power

supply

24VDC

(Note 12)

3 - 5

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 st roke 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 - 6

3. SIGNALS AND WIRING

(3) QD75D (differential driver)

VIN

LZ CR PG

SG PP

LZR

LAR

LBR

4 3

MO1

MO2

CN3

LG OP

8 4 3 6 7

EMG SON RES

LSP

LSN

CN1 CN3

CN1

RA1 RA2

ALM

ZSP

1VIN

13 SG

19 20

5 13 22 23 24 25 14

9 13 16

A19

B20

A20

B19

READY

RDY COM

CLEAR

DOG

COM

RLS

CHG

FLS

STOP

COM

PGO5

PGO COM

CLEAR COM

PULSE FPULSE F+ PULSE RPULSE R+

PULSER A+

PULSER A-

PULSER B+

PULSER B-

A B

(Note 8)

Positioning module

QD75D

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

Servo amplifier

(Note 8) CN1

(Note 2, 4)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common Encoder Z-phase pulse

(open collector)

(Note 8)

Plate

(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 1)

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

2m(6.5ft) max.

10k

Plate

10k

(Note 6)

Trouble

Zero speed

(Note 8)

Plate

External

power

supply

24VDC

External power

supply 24VDC

Manual pulse generator MR-HDP01

(Note 11)

3 - 7

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 st roke 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 - 8

3. SIGNALS AND WIRING

3.1.2 Internal speed control mode

1 9

RA1 RA2

8 4 3 5 6 7

EMG SON

ST1 ST2 LSP LSN

SG 13

ALM ZSP

CN3

VIN

CN1

4 3

MO1

MO2

10k

CN3

LZR

LAR

LBR

LG OP SD

10 SA

RA5 RA4

13 SG

Plate

(Note 9) Servo configuration software

Personal computer

CN1

(Note 8)

(Note 6)

Trouble

Zero speed

(Note 2, 4)

Control common Encoder Z-phase pulse (open collector)

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

(Note 7) Communication cable

2m(6.5ft) max.

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

(Note 1)

Servo ampl ifier

(Note 8)

Speed reached

Ready

Plate

(Note 3, 5) Emergency stop

Servo-on Forward rotation start Reverse rotation start

(Note 5) Forward rotation stroke end

Reverse rotation stroke end

External

power

supply

24VDC

10m(32ft) max.

(Note 8)

(Note 10)

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (t erminal mark ed ) of the servo am plifier 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 st roke 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 - 9

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.

RD RD11CR

OPC

RES EMG

LSP

LSN

EMG

LSP LSN

ST1

PP NG NP SD

CN1

SON SON 4

3 8 6 7

ST2 5

2 22 23 24 25

INP SA10

ALM ALM9 ZSP ZSP12

20 21

LAR

LBR

LZR

CN1

4MO1

62MO2

TXD

CN3

1RXD 3LG

LG14

VIN VIN 1

Servo amplifier

(Note)

Approx. 4.7k

Approx. 100k

Approx. 1.2k

Case

External

power supply

24VDC

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

Case

3 - 10

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 si gnal assignment.

(1) Signal arrangement

3MR57MD9

2LG4

MRR

MDR

10 LG

CN1

MODE

CN3

SET

CN1

CN2

CNP2

CNP1

L3L2L1 D C P W V U

CHARGE

MITSUBISHI MR-E

MO2

OPC

VIN

LAR

RES

SON

LSP

LBR

LZR

LSN

EMG

INP

ALM

ZSP

2613

MO1

TXD2TXD

5 3

LG1RXD

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

3 - 11

3. SIGNALS AND WIRING

(2) CN1 signal assignment

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

(Note2) I/O Signals in control modes

Connector Pin No. (Note1) I/O

PP/SS

parameter

1 VIN VIN VIN 2OPCOPC 3 I RES RES/ST1 ST1 No.43 to 48 4I SON SON

SON

No.43 to 48

5I CR LOP

ST2

No.43 to 48 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 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/

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.

3 - 12

3. SIGNALS AND WIRING

(3) Symbols and signa 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

Encoder Z-phase pulse

(differential line driver) TL Torque limit selection LA RES Reset LAR

Encoder A-phase pulse

(differential line driver) EMG Emergency stop LB LOP Control change LBR

Encoder B-phase pulse

(differential line driver) PP VIN Digital I/F power supply input NP OPC Open collector power input PG SG Digital I/F common NG

Forward/reverse rotation pulse train

LG Control common

RD Ready SD Shield

3 - 13

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 the sig nal may be u sed by se t ting the corresp o nding parame te r am o ng parameters 43 to

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

(1) Input sign als

POINT

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

Control

mode

Signal Symbol

Connec-

tor pin

No.

Functions/Applications

I/O

division

Servo-on SON CN1-4 Connect SON-SG to switch on the base circ uit and make the servo

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 parameter No. 41 to switch this signal on (keep terminals connected) automatically in th e servo amplifier.

DI-1

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

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 "

1 " is set in

parameter No. 51.

DI-1

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

CCW

directionCWdirection

Forward rotation stroke end

LSP CN1-6

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

Reverse rotation stroke end

LSN CN1-7

DI-1

3 - 14

3. SIGNALS AND WIRING

Control

mode

Signal Symbol

Connec-

tor pin

No.

Functions/Applications

I/O

division

Internal torque limit selection

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

parameter No. 43 to 48. (Refer to (5), Section 3.4.1.)

DI-1

Used to start the servo motor in any of the following directions:

(Note) Input signals

ST2 ST1

Servo motor starting direction

Forward rotation start

ST1 CN1-3

0 0 Stop (servo lock)

0 1 CCW

10 CW

1 1 Stop (servo lock)

Reverse rotation start

ST2 CN1-5

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.

DI-1

Speed selection 1 SP1 <Internal speed control m od e>

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

DI-1

(Note) Input signals

Speed selection 2 SP2

SP3 SP2 SP1

Speed command

DI-1

Speed selection 3 SP3

00 0

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

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

Internal speed command 4 (parameter No. 72) 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 ( sho r t)

Proportion control

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

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

DI-1

3 - 15

3. SIGNALS AND WIRING

Control

mode

Signal Symbol

Connec-

tor pin

No.

Functions/Applications

I/O

division

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

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.

DI-1

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

its leading edge. The pulse width should be 10ms or more. When the parameter No.42 setting is "

1 ", the pulses are alw ays

cleared while CR-S G a re connected.

DI-1

Electronic gear selection 1

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

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.

DI-1

(Note) Input signals

CM2 CM1

Electronic gear namerator

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

Electronic gear selection 2

CM2

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

1: CM1/CM2-SG on (short)

DI-1

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

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.

DI-1

Control change LOP <Position/internal speed control chang e mode>

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

DI-1

(Note) LOP Control mode

0Position 1 Internal speed

Note.0: LOP-SG off (open)

1: LOP-SG on (short)

Refer to

Functions/

Appli-

cations.

Forward rotation pulse train Reverse rotation pulse train

CN1-23

CN1-25

CN1-22

CN1-24

Used to enter a c ommand pulse trai 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 form can be changed using parameter No. 21.

DI-2

3 - 16

3. SIGNALS AND WIRING

(2) Output signals

Control

mode

Signal Symbol

Connec-

tor pin

No.

Functions/Applications

I/O

division

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

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

DO-1

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

amplifier is ready to operate.

DO-1

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

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.

DO-1

Speed reached SA

CN1-10

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 t ed.

DO-1

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

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

24.

DO-1

Electromagnetic brake interlock

MBR

(CN1-12)

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.

DO-1

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

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

DO-1

3 - 17

3. SIGNALS AND WIRING

Control

mode

Signal Symbol

Connec-

tor pin

No.

Functions/Applications

I/O

division

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

CN1

11 Pin

CN1

10 Pin

Alarm

display

Name

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

Serial communication timeout

000

AL.8E Serial communication error AL.30 Regenerative error

010

AL.33 Overvoltage

001AL.10Undervoltage

AL.45 Main circuit device AL.46 Servo motor overheat AL.50 Overload 1

011

AL.51 Overload 2 AL.24 Main circuit error

100

AL.32 Overcurrent AL.31 Overspeed

AL.35

Command pulse frequency alarm

110

AL.52 Error excessi ve AL.16 Encoder error 1

101

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

Alarm code ACD 0

ACD 1

ACD 2

Note.0: Pin-SG off (open)

1: Pin-SG on (short)

DO-1

3 - 18

3. SIGNALS AND WIRING

Control

mode

Signal Symbol

Connec-

tor pin

No.

Functions/Applications

I/O

division

Encoder Z-phase pulse (Open collector)

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

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

s. For home position

return using this pulse, set the creep speed to 100r/min. or less.

DO-2

Encoder A-phase pulse (Differential line driver)

LAR

CN1-15

CN1-16

Encoder B-phase pulse (Differential line driver)

LBR

CN1-17

CN1-18

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

/2. The relationships between rotation direction and phase difference of the A- and B-phase pulses ca n be ch anged u sin g para meter No .

54.

DO-2

Encoder Z-phase pulse (Differential line driver)

LZR

CN1-19

CN1-20

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

DO-2

Analog monitor 1 MO1 CN3-4 Used to output the data set in parameter No.17 to across MO1-LG

in terms of voltage. Resolution 10 bits

Analog

output

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

in terms of voltage. Resolution 10 bits

Analog

output

(3) Communication

Control

mode

Signal Symbol

Connec-

tor pin

No.

Functions/Applications

I/O

division

RS-232C I/F RXD

TXD

CN3-1

CN3-2

RS-232C communication interface.

(4) Power supply

Control

mode

Signal Symbol

Connec-

tor pin

No.

Functions/Applications

I/O

division

Digital I/F power supply input

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

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

10% Open collecto r power input

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

this terminal with the positive (

) power of 24VDC. Digital I/F common

SG CN1-13 Common terminal for input signals such as SON and EMG. Pins

are connected internally. Separated from LG.

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

Pins are connected internally.

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

3 - 19

3. SIGNALS AND WIRING

3.4 Detailed description of the signals

3.4.1 Position control mode (1) Pulse train in pu 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

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

A- and B-phase pulse trains are imported after they have been multi pli ed by 4.

Pulse train form

Forward rotation

command

Reverse rotation

command

Parameter No. 21

(Command pulse train)

Forward rotation pulse train Reverse rotation pulse train

0010

Pulse train sign

0011

Negative logic

A-phase pulse train B-phase pulse train

0012

Forward rotation pulse train Reverse rotation pulse train

0000

Pulse train sign

PP NP

0001

Positive logic

A-phase pulse train B-phase pulse train

0002

3 - 20

3. SIGNALS AND WIRING

(b) Connections and waveforms

1) Open collector system Connect as shown below:

OPC

Servo amplifier

Approx.

1.2k Approx.

1.2k

External power

supply 24VDC

The explanation assumes that the input waveform has been set t o 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:

(ON)(OFF)

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

(OFF)

Forward rotation pulse train (transistor)

Reverse rotation pulse train (transistor)

(ON)(OFF)

Forward rotation command Reverse rotation command

(OFF)

3 - 21

3. SIGNALS AND WIRING

2) Differential line driver system Connect as shown below:

Servo amplifier

The explanation assumes that the input waveform has been set t o 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.

Forward rotation pulse train

Reverse rotation pulse train

Forward rotation command Reverse rotation command

3 - 22

3. SIGNALS AND WIRING

(2) In-position (INP)

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

Servo-on (SON)

Alarm

Droop pulses

In position (INP)

ON OFF

Yes No

In-position range

ON OFF

(3) Ready (RD)

Servo-on (SON)

Alarm

Ready (RD)

ON OFF

Yes No

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

ON OFF

(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

Electronic gear namerator

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)

3 - 23

3. SIGNALS AND WIRING

(5) Torque limit

(a) Torque limit and torque

By setting parame ter No. 28 (internal 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.

0 100

Max. torque

Torque

Torque limit value [%]

(b) Torque limit value selection

When internal torque limit selection (TL1) is made usable by parameter No. 43 to 48, internal torque limit 2 (parameter No. 76) can be selected. However, if the par ameter No. 28 va lue is less than the limit value selected by parameter No.76, the parameter No. 28 value is made valid.

(Note) External input signals

TL1

Torque limit value made valid

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

Parameter No. 76

Parameter No. 28: Parameter No. 28

Parameter No. 76

Parameter No. 28: Parameter No. 76

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

1: TL/TL1-SG on (short)

3 - 24

3. SIGNALS AND WIRING

3.4.2 Internal speed control mode (1) Speed setting

(a) Speed command and speed

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

Forward rotation (CCW)

Reverse rotation (CW)

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

(Note) External input signals Rotation direction

ST2 ST1

Internal speed commands

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)

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:

ST1 ST2

SG SD

Servo amplifier

3 - 25

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), spe ed sele ction 2 (SP2) and sp eed sele ction 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

Speed command value

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

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

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

The speed may be chan ged during rotation. In this case, the values set in para meters 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.

(2) Speed reached (SA)

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

OFF

Set speed selection

Internal speed

command 1

Internal speed

command 2

Start (ST1,ST2)

Servo motor speed

Speed reached (SA)

(3) Torque limit

As in Section 3.4.1 (5).

3 - 26

3. SIGNALS AND WIRING

3.4.3 Position/internal speed control change mode

Set "0001" in param e ter N o. 0 to swi tch to the po sitio n/ inter nal spe ed co ntro l ch ang e mo de. Th is fu nct 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 mo de 1 Speed control mode

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 chart is shown below:

ON OFF ON OFF

Position

control mode

Internal speed

control mode

Servo motor speed

Zero speed (ZSP)

Control change (LOP)

Zero speed level

(Note)

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.

(Note)

Position

control mode

(2) Torque limit in position control mode

As in Section 3.4.1 (5).

3 - 27

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:

SP2

SG SD

Servo amplifier

(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

Speed command value

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)

The speed may also be changed during rotation. In this case, it is increa sed 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 - 28

3. SIGNALS AND WIRING

3.5 Alarm occurrence timing chart

CAUTION

When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation.

When an alarm occurs in the servo amplifier, the 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.

OFF

Brake operation

50ms or more

60ms or more

Alarm occurs.

Remove cause of trouble.

Brake operation

Power off

Power on

Valid

Invalid

Power supply Base circuit

Dynamic brake

Servo-on (SON)

Reset (RES)

Ready (RD)

Trouble (ALM)

(Note)

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

(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 er fa il ure

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 reset 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 - 29

3. SIGNALS AND WIRING

3.6 Interfaces

3.6.1 Common line

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

CN1

DO-1

OPC

MRR

DI-1

VIN

CN3

CN2

MO1 MO2

TXD RXD

RS-232C

ALM, etc.

(Note)

Servo motor

Servo motor encoder

Isolated

Analog monitor output

Differential line driver output 35mA max.

SON, etc.

PG NG

PP NP

LA etc.

LAR etc.

Ground

External

power supply

24VDC

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

PP NP

PG NG

OPC

3 - 30

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.

VIN

Switch

SON, etc.

External power supply 24VDC 200mA or more

Servo amplifier

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

VIN

Servo amplifier

Load

ALM, etc.

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

External power supply 24VDC 10%

3 - 31

3. SIGNALS AND WIRING

(b) Lamp load

VIN

Servo amplifier

ALM, etc.

External power supply 24VDC 10%

(3) Pulse train in pu t 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

VIN

PP, NP

Servo amplifier

Max. input pulse frequency 200kpps

About 1.2k

External power supply 24VDC

2) Conditions of the input pulse

0.9

0.1

tHL

tc tLH

tLH tHL 0.2 s tc 2 s tF 3 s

3 - 32

3. SIGNALS AND WIRING

(b) Differential line driver system

1) Interface

PG(NG)

PP(NP)

Max. input pulse frequency 500kpps

Servo amplifier

Am26LS31 or equivalent

About 100

2) Conditions of the input pulse

0.9

PP PG

tHL

tc tLH

tLH tHL 0.1 s tc 1 s tF 3 s

NP NG

0.1

(4) Encoder pul se ou tp ut

(a) Open collector system

Interface

Servo amplifier

5 to 24VDC

Photocoupler

Max. output cu r rent : 35mA

Servo amplifier

3 - 33

3. SIGNALS AND WIRING

(b) Differential line driver system

1) Interface Max. output current: 35mA

LA (LB, LZ)

LAR (LBR, LZR)

LA (LB, LZ)

LAR (LBR, LZR)

Servo amplifier Servo amplifier

Am26LS32 or equivalent High-speed photocoupler

150

100

2) Output pulse

Servo motor CCW rotation

LAR

LBR

LZR

400 s or more

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

(5) Analog output

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

MO1

(MO2)

Servo amplifier

Reading in one or both directions 1mA meter

10k

3 - 34

3. SIGNALS AND WIRING

3.7 Input power supply circuit

CAUTION

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.

Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or th e like may ov erheat the re generative b rake resist or, causing a fire.

POINT

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

3.7.1 Connection example

Wire the power supply and main circui t as shown below so th at the servo-on sig nal 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

3-phase 200 to 230 VAC

Emergency stop

Servo-on

Trouble

Servo amplifier

External

power

supply

24VDC

(Note)

OFF

NFB MC

VIN

EMG SON

ALM

CNP1

P D C

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

Emergency stop

3 - 35

3. SIGNALS AND WIRING

(2) For 1-phase 230VAC power supply

Power supply 1-phase 230VAC

Emergency stop

Servo-on

Servo amplifier

Trouble

Emergency stop

External

power supply

24VDC

OFF

NFB MC

EMG SON

VIN

ALM

(Note)

CNP1

P D C

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)

Symbol Description

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

1/L2

and leave L3 open.

Servo amplifier

Power supply

MR-E-10A to

70A

MR-E-100A/

200A

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

1L2L3

1-phase 230VAC, 50/60Hz

1L2

Power supply

Servo motor output

Connec t to the serv o motor power supply terminals (U, V, W).

Regenerative brake

option

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 th e regenerative brake option acr oss P- C . Refer to Section 13.1.1 for details.

Protective eart h (PE)

Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for groundi ng.

3 - 36

3. SIGNALS AND WIRING

3.7.3 Power-on sequence (1) Power-on procedure

1) Always wire th e power supply as shown in a bove Section 3. 7.1 using the magnetic cont actor with the power supply (three-phase 200V: L

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

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

20ms

20ms10ms

10ms

60ms

OFF

power supply

Base circuit

Servo-on (SON)

Reset (RES)

Ready (RD)

SON accepted

(1 to 2s)

2s or longer

(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.

VIN

EMG

Emergency stop

External power supply 24VDC

3 - 37

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.

CAUTION

Connect the wir es to the correc t phase termina ls (U, V, W ) of the servo am plifier

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

Do not connect AC power supply directl y to the servo motor. Other wise, 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.

Servo amplifier

Servo moto

PE terminal

Control box

(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 accordin g to the servo motor types. U se the connec tion d iagram 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 - 38

3. SIGNALS AND WIRING

Servo motor Connection diagram

HC-KFE13 (B) to 73 (B)

U V

Servo amplifier

B1 B2

24VDC

EMG

CN2

(Note 1)

Encoder

Electromagnetic brake

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

Encoder cable

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

(Green)

Motor

Servo motor

(Note2)

CNP2

Note:1. To prevent an electric shock, always connect the protective earth (PE) termi 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.

HC-SFE52 (B) to 152 (B)

U V

Servo amplifier

B1 B2

24VDC

EMG

CN2

(Note 1)

Encoder

Electromagnetic brake

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

Encoder cable

Motor

Servo motor

(Note2)

U V

CNP2

Note:1. To prevent an electric shock, always connect the protective earth (PE) termi 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.

HC-SFE202 (B)

U V

Servo amplifier

B1 B2

24VDC

EMG

CN2

(Note 1)

Encoder

Electromagnetic brake

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

Encoder cable

Motor

Servo motor

(Note2)

U V

CNP2

Note:1. To prevent an electric shock, always connect the protective earth (PE) termi 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 - 39

3. SIGNALS AND WIRING

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

Power supply connector (molex) Without electromagnetic brake 5557-04R-210 (receptacle) 5556PBTL ( Female terminal) With electromagne tic brake 5557-06R-210 (receptacle) 5556PBTL ( Female terminal)

Encoder cable 0.3m (0.98ft.)

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

With connector 1-1721 69-9 (AMP)

1 2 3 4

1 25

1 2 3

5 6

Power supply connector 5557-04R-210

Signal

Earth

U V

Power supply connector 5557-06R-210

Signal

Earth

U V

123

MRR

CONT

456

MDR

789

LG SHD

Encoder connector signal arrangemen

B1 B2

(Note) (Note)

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

View b

View a

3 - 40

3. SIGNALS AND WIRING

(2) HC-SFE series

Servo motor side connectors

Servo motor

For power supply For encoder

Electromagnetic brake connector

HC-SFE52(B) to 152(B)

CE05-2A2223PD-B

The connector for power is shared.

HC-SFE202(B)

CE05-2A2417PD-B

MS3102A2029P

MS3102A10SL4P

Encoder connector

Brake connec tor

Power suppl y connector

A B C D E F G H

Signal

(Note)

(Earth)

Key

(Note)

CE05-2A22-23PD-B

Power supply connector signal arrangement

A B C D E F G

U V

CE05-2A24-10PD-B

Key

Signal

(Earth)

(Note)

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

View c View c

TP SR

A B C D E

G H

Signal

MRR

L M N

Signal

SHD

Encoder connector signal arrangement

MS3102A20-29P

Key

MDR

View a

CONT

A B

Signal

(Note)

Electromagnetic brake connector signal arrangement

MS3102A10SL-4P

Key

Note:Supply electromagneti

brake power (24VDC). There is no polarity.

View b

3 - 41

3. SIGNALS AND WIRING

3.9 Servo motor with electromagnetic brake

CAUTION

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.

EMGRA

24VDC

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

Electromagnetic brake

Servo motor

Circuit must be opened during emergency stop signal.

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 operati on 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 brake.

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

4) While the r eset signal is on, the base circuit is shut o ff. When using the ser vo 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

MBR

VIN

Servo amplifier Servo motorEmergency

stop

External

power

supply

24VDC

External power

supply 24VDC

(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 delay (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 - 42

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 operation dela y time to prevent a drop.

Servo motor speed

Electromagnetic brake (MBR)

ON OFF

Base circuit

Invalid(ON) Valid(OFF)

ON OFF

Servo-on(SON)

Electromagnetic brake operation delay time

Coasting

0 r/min

(60ms)

(80ms)

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

Servo motor speed

Electromagnetic brake interlock (MBR)

ON OFF

Base circuit

Invalid (ON) Valid (OFF)

Emergency stop (EMG)

(10ms)

(180ms)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Invalid (ON) Valid (OFF)

Electromagnetic brake operation delay time

Electromagnetic brake release

3 - 43

3. SIGNALS AND WIRING

Servo motor speed

ON OFF

Base circuit

Electromagnetic brake interlock (MBR)

Invalid(ON) Valid(OFF)

Trouble (ALM)

No(ON) Yes(OFF)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake operation delay time

Electromagnetic brake

(10ms)

(d) Power off

Servo motor speed

ON OFF

Base circuit

Electromagnetic brake interlock(MBR)

Invalid(ON) Valid(OFF)

Trouble (ALM)

No(ON) Yes(OFF) ON OFF

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

power

(Note) 15 to 100ms

(10ms)

(10ms or less)

Electromagnetic brake operation delay time

Note: Changes with the operating status.

(Note 2)

3 - 44

3. SIGNALS AND WIRING

3.10 Grounding

WARNING

Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal of

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

The servo amplifier switches the power transistor on-off to supply power to the servo motor. 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).

Control box

Servo amplifier

CN1

Line fil ter

NFB

Protective earth(PE)

CN2

Outer box

Servo motor

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

Encoder

U V

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

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

Programmable

controller

3 - 45

3. SIGNALS AND WIRING

3.11 Servo amplifier connectors (CNP1, CNP2) wiring method (When MR-ECPN1-B and MR-ECPN2-B of an option are used.)

(1) Termination of the cables

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

2.5mm

)

8 to 9 mm

Twisted wire: Use the cable after str ippin g the shea th and twi sting the co re. At thi s time , take car e to

avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may 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 terminal type

[mm2] AWG For 1 cable For 2 cables

Crimping tool Maker

BT1.25-9-1 NH1 NICHIFU

1.25 16 TUB-1.25 YHT-2210 JST

AI-TWIN2 1.5-8BK

1.5 16 AI1.5-8BK AI-TWIN2

1.5-12BK

CRIMPFOX-UD6 Phoenix Contact

BT2-9-1 NH1 NICHIFU

214

TUB-2 YHT-2210 JST

2.5 14

AI2.5-8BU AI2.5-8BK-1000

AI-TWIN2

2.5-10BU

AI-TWIN2

2.5-13BU

CRIMPFOX-UD6 Phoenix Contact

3 - 46

3. SIGNALS AND WIRING

(2) Inserting the cable into the connector

(a) Applicable flat-blade screwdriver dimensions

Always use the screwdriver shown here to do the work.

[Unit: mm]

0.6

(R0.3)

(22)

(R0.3)

3 to 3.5

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

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

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 - 47

3. SIGNALS AND WIRING

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

2) Push the screwdriver in the direction of arrow.

3) With the screwdriver pushed, insert the cable in the direction of arrow. (In s ert the cable as far as it will g o.)

4) Releasing the screwdriver connects the cable.

3 - 48

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

External conductor

Pull back the external conductor to cover the sheath

SheathCore

Strip the sheath.

Screw

Ground plate

Cable

4 - 1

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

, L2, L3) of the servo amplifier.

(b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the

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

power input terminals (L

, L2, L3) of the servo motor. (d) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier. (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.

(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 - 2

4. OPERATION

4.2 Startup

WARNING

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

CAUTION

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

unexpected operation.

During power-on fo r so me a ft er pow er -o ff, d o no t tou ch or clo se a pa r ts ( cab le etc. ) 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 operates. (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 Set ting Description

Control mode, regenerati ve brake option selection

3 0

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

1 Function selection 1

0 2

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

2 Auto tuning

1 5

Middle response (initial value) is selected.

Auto tuning mode 1 is selected. 3 Electronic ge ar numerator (CMX) 1 Electronic gear numerator 4 Electronic gear denominator (CDV) 1 Electronic gear denominator

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

4 - 3

4. OPERATION

(4) Servo-on

Switch the servo-on in th e 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 fr om the p o sitio nin g de vice ro tate s the servo m otor . A t f irst, ru n it at low spee d 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. Ala rm AL .E 6 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 - 4

4. OPERATION

4.2.3 Internal speed control mode (1) Power on

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

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

(2) Test operation

Using jog operation in the test operation mode, make sure that the servo motor operates. (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

Control mode, regenerati ve brake option selection

0 2

Internal speed control mode Regenerative brake option is not used.

1 Function selection 1

1 2

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

2 Auto tuning

1 5

Middle response (initial value) is selected.

Auto tuning mode 1 is selected. 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.

S-pattern acceleration/deceleration time constant

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 th e 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 st, 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 - 5

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. Ala rm AL .E 6 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 - 6

4. OPERATION

MEMO

5 - 1

5. PARAMETERS

CAUTION

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

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 expans ion paramete rs 2 (No.50 to 84) according to the ir safe ty aspect s 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 parameter No. 19. Operation can be performed for the parameters marked

Parameter No. 19 setting Operati on

Basic parameters

No. 0 to No. 19

Expansion parameters 1

No. 20 to No. 49

Expansion parameters 2

No. 50 to No. 84

Reference

0000

(initial value)

Write

Reference No. 19 only

000A

Write No. 19 only

Reference

000B

Write

Reference

000C

Write

Reference

000E

Write

Reference

100B

Write No. 19 only

Reference

100C

Write No. 19 only

Reference

100E

Write No. 19 only

5 - 2

5. PARAMETERS

5.1.2 Lists POINT

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

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

(1) Item list

No. Symbol Name

Control

mode

Initial value

Unit

Customer

setting

0 *STY Control mode ,regenerative brake opti on s election P S

(Note 1)

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

Position command acceleration/deceleration time constant (Smoothing)

P3ms

8 SC1 Internal speed command 1 S 100 r/min

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

Basic parameters

19 *BLK Parameter block P S 0000

5 - 3

5. PARAMETERS

No. Symbol Name

Control

mode

Initial value

Unit

Customer

setting

20 *OP2 Function selection 2 P S 0000 21 *OP 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 speed P S50r/min 25 For manufacturer setting

26 For manufacturer setting 100 27 *ENR Encoder outpu t pulses P S 4000

pulse

/rev 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

0.1

times 35 PG2 Position loop gain 2 P 35 rad/s 36 VG1 Speed loop gain 1 P S 177 rad/s 37 VG2 Speed loop gain 2 P S 817 rad/s 38 VIC Speed integral compensation P S48ms 39 VDC Speed differential compensati on 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 termin als selection P S 0403

Expansion parameters 1

49 *DO1 Output signal selection 1 P S 0000

5 - 4

5. PARAMETERS

No. Symbol Name

Control

mode

Initial value

Unit

Customer

setting

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 Se r ial 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 Low-pass filter, adaptive vibration suppression control P S 0000

61 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 P S70

0.1

times 62 PG2B Po sition 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

(Note 2)

67 CDT Gain changing time constant P S1ms 68 For manufacturer setting 0 69 CMX2 Command pulse multiplying factor numerator 2 P 1 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

Expansion parameters 2

For manufacturer setting

0000

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

2. Depends on the parameter No. 65 setting.

5 - 5

5. PARAMETERS

(2) Details list

Class No. Symbol Name and function

Initial value

Unit

Setting

range

Control

mode

Control mode, regenerati ve brake option selection

Used to select the control mode and regenerative brake option.

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

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

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.

0*STY 100W

: 0000

200W : 1000

400W : 2000

750W : 4000

1kW : 5010

2kW : 6010

Refer to Name and function column.

P S

Basic parameters

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

0002

Refer to Name and function column.

P S

5 - 6

5. PARAMETERS

Class No. Symbol Name and function

Initial value

Unit

Setting

range

Control

mode

2 ATU Auto tuning

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

Auto tuning response level set t i ng

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

Set

value

Response

level

Low

response

Middle

response

High

response

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

Machine resonance frequency guideline

15Hz

20Hz

25Hz

30Hz

35Hz

45Hz

55Hz

70Hz

85Hz

105Hz

130Hz

160Hz

200Hz

240Hz

F300Hz

Set

value

Gain adjustment mode

Description

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

Interpolation mode

Fixes position control gai n 1 (parameter N o . 6).

Auto tuning mode 1

Fixes the load ine rtia moment ratio set in parameter No. 34. Response level setting can be

changed. Manual mode 1 Manual mode 2

Auto tuning mode 2

Ordinary auto tuning.

0 0

0105

Refer to Name and function column.

P S

3 CMX Electronic gear numerator

Used to set the el ect ronic gear numerator value. For the setting, refer to Section 5.2.1. Setting "0" automatically sets the resolution of the servo motor connected.

65535

Basic parameters

4 CDV Electronic gear denominator

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

65535

5 - 7

5. PARAMETERS

Class No. Symbol Name and function

Initial value

Unit

Setting

range

Control

mode

5 INP In-position range

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

100 pulse 0

10000

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.

35 red/s 4

2000

Position command a cceleration/decelera t i on t ime 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

7PST

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.

3ms0

20000

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

Synchronizing detector

Start

Servo amplifier

Servo motor

Without time constant setting

Servo motor

speed

Start

With time constant setting

ON OFF

Basic parameters

8 SC1 Internal speed command 1

Used to set speed 1 of internal speed commands.

100 r/min

0 to

instan-

taneous

permi-

ssible speed

5 - 8

5. PARAMETERS

Class No. Symbol Name and function

Initial value

Unit

Setting

range

Control

mode

9 SC2 Internal speed command 2

Used to set speed 2 of internal speed commands.

500 r/min

0 to

instan-

taneous

permi-

ssible speed

10 SC3 Internal speed command 3

Used to set speed 3 of internal speed commands.

1000 r/min

0 to

instan-

taneous

permi-

ssible speed

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.

Tim

Parameter No.12 setting

Parameter No.11 setting

Zero speed

Rated speed

Speed

If the preset speed command is lower than the rated speed, acceleration/deceleration time will be shorter.

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.

ms 0

20000

Basic parameters

13 STC S-pattern acceleration/deceleration time constant

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

STA: Acceleration time constant (parameter No.11) STB: Deceleration time constant (parameter No.12) STC: S-pattern acceleration/deceleration time c on stant (parameter No.13)

Speed command

Servo motor

Speed

0r/min

STC

STA STC

STC STB

STC

Time

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

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

for acceleration or by f or deceleration.

(Example)

During acceleration: 100[ms]

2000000

20000

100[ms] 200[ms].

Limited to 100[ms] since

During deceleration: 200[ms]

2000000

5000

400[ms] 200[ms].

200[ms] as set since

2000000

STA

2000000

STB

0ms0

1000

5 - 9

5. PARAMETERS

Class No. Symbol Name and function

Initial value

Unit

Setting

range

Control

mode

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.

0sta-

tion0to

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

0000

Refer to Name and function column.

P S

Basic parameters

17 MOD Analog monitor output

Used to selection the sign al provided to the an alog moni tor (MO1)

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

Setting

Analog monitor 2 (MO2)

Servo motor speed ( 8V/max. speed) 1 Torque ( 8V/max. torque) 2 Servo motor sp eed ( 8V/max. speed) 3 Torque ( 8V/max. torque) 4 Current command ( 8V/max. cu rrent 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)

0100

Refer to Name and function column.

P S

5 - 10

5. PARAMETERS

Class No. Symbol Name and function

Initial value

Unit

Setting

range

Control

mode

18 *

DMD

Status display selectio n

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

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: Regenerative load ratio 8: Effective load ratio 9: Peak load ratio 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.

0 0

0000

Refer to Name and function column.

P S

Control Mode

Position

Position/internal speed

Internal speed

Status display at power-on

Cumulative feedback pulses

Cumulative feedback pulses/servo motor speed

Servo motor speed

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

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)

Write

Reference No. 19 only

000A

Write No. 19 only

Reference

000B

Write

Reference

000C

Write

Reference

000E

Write

Reference

100B

Write No. 19 only

Reference

100C

Write No. 19 only

Reference

100E

Write No. 19 only

Basic parameters

19 *BLK 0000

Refer to Name and function column.

P S

5 - 11

5. PARAMETERS

Class No. Symbol Name and function

Initial value

Unit

Setting

range

Control

mode

20 *OP2 0000

Refer to Name and function column.

P S

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.

0: Invalid 1: Valid

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.

Restart after instantaneous power failure

Stop-time servo lock selection

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

0: Valid 1: Invalid

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.

0: Invalid 1: Valid

Encoder cable communication system selection

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

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

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

P S

Expansion parameters 1

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.)

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

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

0 0

0000

Refer to Name and function column.

5 - 12

5. PARAMETERS

Class No. Symbol Name and function

Initial value

Unit

Setting

range

Control

mode

22 *OP4 Function selection 4

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

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

0000

Refer to Name and function column.

P S

23 FFC

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.

0%0

100

24 ZSP Zero speed

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

50 r/min 0

10000

P S

25 For manufacturer setting

Don’t change this value by any means.

Expansion parameters 1

26 For manufacturer setting

Don’t change this value by any means.

100

5 - 13

5. PARAMETERS

Class No. Symbol Name and function

Initial value

Unit

Setting

range

Control

mode

27 *ENR Encoder output pulses

Used to set the encoder pulses (A-phase or B-phase) output by the servo amplifier. Set the value 4 tim es 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

set value [pulses/rev] At the setting of 5600, for example, the actually output A/B-phase pulses are as indicated below:

5600

A B-phase output pulses 1400 [puls e]

For output division ratio setting

Set " 1

" in parameter No. 54. The number of pulses per ser v o motor revolution is divi ded by the set value.

Output pulse

[pulses/rev]

Resolution per servo motor revolutio n

Set value

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

A B-phase output pulses 313[pulse]

1000041

4000 pulse/

rev1to

65535

P S

Internal torque limit 1

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

100 % 0

100

P S

(Note)

External

input

signals

TL1

Torque limit value made valid

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

Parameter No. 76

Parameter No. 28: Parameter No. 76

28 TL1

Note.0 :off

1 :on

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

8V). (Refer to Section 3.4.1, (5))

29 For manufacturer setting

Don’t change this value by any means.

30 For manufacturer setting

Don’t change this value by any means.

31 MO1 Analog monitor 1 offset

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

999

to 999

32 MO2 Analog monitor 2 offset

Used to set the offset voltage of the analog monitor 2 (MO2).

999

to 999

33 MBR Electromagnetic brake sequence output

Used to set the delay time (Tb) between electronic brake interlock (MBR) and the base drive circuit is shut-off.

100 ms 0

1000

P S

Expansion parameters 1

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

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.

70 0.1

times0to

3000

5 - 14

5. PARAMETERS

Class No. Symbol Name and function

Initial value

Unit

Setting

range

Control

mode

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.

35 rad/s 1

1000

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

2, manual mode and interpolation mode

is selected, the result of auto tuning is automatically used.

177 rad/s 20

8000

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

2 and interpolation mode is selected, the

result of auto tuning is automatically used.

817 rad/s 20

20000

P S

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

2 and interpolation mode is selected, the

result of auto tuning is automatically used.

48 ms 1

1000

39 VDC Speed differential compensation

Used to set the differential compensation. Made valid when the proportion control (PC) is switched on.

980 0

1000

40 For manufacturer setting

Don’t change this value by any means.

Refer to Name and function column.

P S

Expansion parameters 1

41 *DIA Input signal automatic ON selection

Used to set automatic servo-on (SON)

forward rotation stroke end

(LSP)

reverse rotation stroke end (LSN).

Servo-on (SON) 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

Forward rotation stroke end (LSP) input selection

0000

5 - 15

5. PARAMETERS

Class No. Symbol Name and function

Initial

value

Unit

Setting

range

Control

mode

*DI1 0002

Refer to Name and function column.

P/S

Expansion parameters 1

Input signal selection 1

Used to assign the contro l mode changing signal input pins and t o set the clear (CR).

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 tion/internal speed change mode.

Set value

0 1 2

Connector pin No.

CN1-4 CN1-3 CN1-5

3CN1-6

Clear (CR) selection

0: Droop pulses are cleared on the

leading edge. 1: While turning on, droop pulses are always cleared.

4CN1-7

0 0

If forward rotation stroke end ( LSP) or reverse rotation stroke end (LSN) is assigned to any pin with parameter No. 48, this setting is invalid.

Mitsubishi Electric GENERAL PURPOSE AC SERVO MR-E- A/AG, MR-E-A, MR-E-AG Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual