Mitsubishi Electric MR-JE-_A Instruction Manual
General-Purpose AC Servo
General-Purpose Interface AC Servo
MODEL
MR-JE-_A
SERVO AMPLIFIER
INSTRUCTION MANUAL
J
Safety Instructions
Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until
you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not
use the equipment until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
CAUTION
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Indicates what must not be done. For example, "No Fire" is indicated by
Indicates what must be done. For example, grounding is indicated by
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, keep it accessible to the operator.
.
.
A - 1
1. To prevent electric shock, note the following
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp
is off or not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to smoke or a fire.
Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the
servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo
amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may
cause smoke or a fire when the servo amplifier malfunctions.
Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power
supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts
down the power supply on the side of the servo amplifier’s power supply. If a molded-case circuit breaker
or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo
amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative
transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
When you use a regenerative option with an MR-JE-40A to MR-JE-100A, remove the built-in
regenerative resistor and wiring from the servo amplifier.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
3. To prevent injury, note the following
CAUTION
Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal.
Otherwise, an electric shock, fire, injury, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.
A - 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo
amplifier. Otherwise, it may drop.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury,
malfunction, etc. may occur.
Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient
temperature
Storage -20 °C to 65 °C (non-freezing)
Ambient
humidity
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in a metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our
products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely
install, mount, and wire the servo motor in accordance with the Instruction Manual.
Operation 0 °C to 55 °C (non-freezing)
Operation
5 %RH to 90 %RH (non-condensing)
A - 3
r
(2) Wiring
CAUTION
Before removing the CNP1 connector of MR-JE-40A to MR-JE-100A, disconnect the lead wires of the
regenerative resistor from the CNP1 connector.
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.
Otherwise, the cables and connectors may be disconnected during operation.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier
output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier
and servo motor.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier
U
V
W
Servo motor
U
V
W
Servo motorServo amplifier
U
M
V
W
U
V
W
M
The connection diagrams in this instruction manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
Servo amplifier
DOCOM
Control output
signal
For sink output interface
24 V DC
RA
Servo amplifie
DOCOM
Control output
signal
For source output interface
24 V DC
RA
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.
Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected
restart of the servo amplifier.
To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running
them in parallel to each other. Separate the power lines from the signal cables.
(3) Test run and adjustment
CAUTION
When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may
cause a malfunction, damage to the machine, or injury.
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
A - 4
CAUTION
Never adjust or change the parameter values extremely as it will make operation unstable.
Do not get close to moving parts during the servo-on status.
(4) Usage
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an external brake to prevent the condition.
For equipment in which the moving part of the machine may collide against the load side, install a limit
switch or stopper to the end of the moving part. The machine may be damaged due to a collision.
Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may
occur. Disassembled, repaired, and/or modified products are not covered under warranty.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric
shock, fire, injury, etc. may occur.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and
the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft.
To ensure safety, install a stopper on the machine side.
If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an
external force. Otherwise, it may cause a fire.
(5) Corrective actions
CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous
situation, use a servo motor with an electromagnetic brake or provide an external brake system for
holding purpose to prevent such hazard.
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety
before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.
Otherwise, it may cause smoke, fire, or an electric shock.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
A - 5
CAUTION
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
Contacts must be opened
with the emergency stop switch.
Servo motor
B
Electromagnetic brake
To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,
ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before
switching the power on.
RA
U
24 V DC
(6) Maintenance, inspection and parts replacement
CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using a servo amplifier whose power has not been turned on for a long time, contact your local
sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.
A - 6
DISPOSAL OF WASTE
Please dispose a servo amplifier and other options according to your local laws and regulations.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the
EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Compliance with global standards
Refer to app. 2 for the compliance with global standard.
Using HF-KN series and HF-SN series servo motors
For the combinations and characteristics when using HF-KN series and HF-SN series servo motors, refer to
app. 5.
«About the manual»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
Relevant manuals
Manual name Manual No.
MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030166ENG
MELSERVO MR-JE-_A Servo Amplifier Instruction Manual (Positioning Mode) SH(NA)030150ENG
MELSERVO MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU Protocol) SH(NA)030177ENG
MELSERVO HG-KN/HG-SN Servo Motor Instruction Manual SH(NA)030135ENG
MELSERVO EMC Installation Guidelines IB(NA)67310ENG
«Cables used for wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.
«U.S. customary units»
U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
A - 7
MEMO
A - 8
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-14
1.1 Summary ........................................................................................................................................... 1- 1
1.2 Function block diagram ..................................................................................................................... 1- 2
1.3 Servo amplifier standard specifications ............................................................................................ 1- 4
1.4 Combinations of servo amplifiers and servo motors ........................................................................ 1- 6
1.5 Function list ....................................................................................................................................... 1- 7
1.6 Model designation ............................................................................................................................. 1- 9
1.7 Structure .......................................................................................................................................... 1-10
1.7.1 Parts identification ..................................................................................................................... 1-10
1.8 Configuration including peripheral equipment ................................................................................. 1-12
2. INSTALLATION 2- 1 to 2- 6
2.1 Installation direction and clearances ................................................................................................ 2- 2
2.2 Keep out foreign materials ................................................................................................................ 2- 3
2.3 Encoder cable stress ........................................................................................................................ 2- 4
2.4 Inspection items ................................................................................................................................ 2- 4
2.5 Parts having service life .................................................................................................................... 2- 5
2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m
above sea level ................................................................................................................................. 2- 6
3. SIGNALS AND WIRING 3- 1 to 3-66
3.1 Input power supply circuit ................................................................................................................. 3- 2
3.2 I/O signal connection example .......................................................................................................... 3- 7
3.2.1 Position control mode ................................................................................................................. 3- 7
3.2.2 Speed control mode .................................................................................................................. 3-12
3.2.3 Torque control mode ................................................................................................................. 3-14
3.3 Explanation of power supply system ............................................................................................... 3-16
3.3.1 Signal explanations ................................................................................................................... 3-16
3.3.2 Power-on sequence .................................................................................................................. 3-17
3.3.3 Wiring CNP1 and CNP2 ............................................................................................................ 3-18
3.4 Connectors and pin assignment ...................................................................................................... 3-20
3.5 Signal (device) explanations ............................................................................................................ 3-23
3.6 Detailed explanation of signals ........................................................................................................ 3-32
3.6.1 Position control mode ................................................................................................................ 3-32
3.6.2 Speed control mode .................................................................................................................. 3-37
3.6.3 Torque control mode ................................................................................................................. 3-39
3.6.4 Position/speed control switching mode ..................................................................................... 3-42
3.6.5 Speed/torque control switching mode ....................................................................................... 3-44
3.6.6 Torque/position control switching mode.................................................................................... 3-46
3.7 Forced stop deceleration function ................................................................................................... 3-47
3.7.1 Forced stop deceleration func tion ............................................................................................. 3-47
3.7.2 Base circuit shut-off delay time function ................................................................................... 3-49
3.7.3 Vertical axis freefall prevention function ................................................................................... 3-50
3.7.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-50
3.8 Alarm occurrence timing chart ......................................................................................................... 3-51
3.8.1 When you use the forced stop deceleration function ................................................................ 3-51
1
3.8.2 When you do not use the forced stop deceleration function ..................................................... 3-52
3.9 Interfaces ......................................................................................................................................... 3-53
3.9.1 Internal connection diagram ...................................................................................................... 3-53
3.9.2 Detailed explanation of interfaces ............................................................................................. 3-55
3.9.3 Source I/O interfaces ................................................................................................................ 3-59
3.10 Servo motor with an electromagnetic brake .................................................................................. 3-61
3.10.1 Safety precautions .................................................................................................................. 3-61
3.10.2 Timing chart ............................................................................................................................ 3-63
3.11 Grounding ...................................................................................................................................... 3-66
4. STARTUP 4- 1 to 4-38
4.1 Switching power on for the first time ................................................................................................. 4- 2
4.1.1 Startup procedure ...................................................................................................................... 4- 2
4.1.2 Wiring check ............................................................................................................................... 4- 3
4.1.3 Surrounding environment ........................................................................................................... 4- 4
4.2 Startup in position control mode ....................................................................................................... 4- 5
4.2.1 Power on and off procedures ..................................................................................................... 4- 5
4.2.2 Stop ............................................................................................................................................ 4- 5
4.2.3 Test operation ............................................................................................................................ 4- 6
4.2.4 Parameter setting ....................................................................................................................... 4- 7
4.2.5 Actual operation ......................................................................................................................... 4- 7
4.2.6 Trouble at start-up ...................................................................................................................... 4- 8
4.3 Startup in speed control mode ......................................................................................................... 4-10
4.3.1 Power on and off procedures .................................................................................................... 4-10
4.3.2 Stop ........................................................................................................................................... 4-10
4.3.3 Test operation ........................................................................................................................... 4-11
4.3.4 Parameter setting ...................................................................................................................... 4-12
4.3.5 Actual operation ........................................................................................................................ 4-13
4.3.6 Trouble at start-up ..................................................................................................................... 4-13
4.4 Startup in torque control mode ........................................................................................................ 4-14
4.4.1 Power on and off procedures .................................................................................................... 4-14
4.4.2 Stop ........................................................................................................................................... 4-14
4.4.3 Test operation ........................................................................................................................... 4-15
4.4.4 Parameter setting ...................................................................................................................... 4-16
4.4.5 Actual operation ........................................................................................................................ 4-16
4.4.6 Trouble at start-up ..................................................................................................................... 4-17
4.5 Display and operation sections ........................................................................................................ 4-18
4.5.1 Summary ................................................................................................................................... 4-18
4.5.2 Dis
play flowchart ....................................................................................................................... 4-19
4.5.3 Status display mode .................................................................................................................. 4-20
4.5.4 Diagnostic mode ....................................................................................................................... 4-24
4.5.5 Alarm mode ............................................................................................................................... 4-26
4.5.6 Parameter mode ....................................................................................................................... 4-27
4.5.7 External I/O signal display ......................................................................................................... 4-29
4.5.8 Output signal (DO) forced output .............................................................................................. 4-32
4.5.9 Test operation mode ................................................................................................................. 4-33
5. PARAMETERS 5- 1 to 5-48
5.1 Parameter list .................................................................................................................................... 5- 1
2
5.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 5- 2
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 2
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 4
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 5
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 5- 6
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 5- 8
5.2 Detailed list of parameters ................................................................................................................ 5- 9
5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 5- 9
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-17
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-29
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-40
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 5-45
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-46
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-34
6.1 Different adjustment methods ........................................................................................................... 6- 1
6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1
6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2
6.2 One-touch tuning .............................................................................................................................. 6- 3
6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 5
6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 8
6.2.3 Caution for one-touch tuning ..................................................................................................... 6-23
6.3 Auto tuning ....................................................................................................................................... 6-24
6.3.1 Auto tuning mode ...................................................................................................................... 6-24
6.3.2 Auto tuning mode basis ............................................................................................................. 6-25
6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-26
6.3.4 Response level setting in auto tuning mode ............................................................................. 6-27
6.4 Manual mode ................................................................................................................................... 6-28
6.5 2 gain adjustment mode .................................................................................................................. 6-32
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-30
7.1 Filter setting ...................................................................................................................................... 7- 1
7.1.1 Machine resonance suppression filter ....................................................................................... 7- 1
7.1.2 Adaptive filter II ........................................................................................................................... 7- 4
7.1.3 Shaft resonance suppression filter ............................................................................................. 7- 7
7.1.4 Low-pass filter ............................................................................................................................ 7- 8
7.1.5 Advanced vibration suppression control II ................................................................................. 7- 8
7.1.6 Command notch filter ................................................................................................................ 7-13
7.2 Gain switching function .................................................................................................................... 7-14
7.2.1 Applications ............................................................................................................................... 7-14
7.2.2 Function block diagram ............................................................................................................. 7-15
7.2.3 Parameter .................................................................................................................................. 7-16
7.2.4 Gain switching procedure ......................................................................................................... 7-18
7.3 Tough drive function ........................................................................................................................ 7-22
7.3.1 Vibration tough drive function.................................................................................................... 7-22
7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-24
7.4 Model adaptive control disabled ...................................................................................................... 7-27
7.5 Lost motion compensation function ................................................................................................. 7-28
3
8. TROUBLESHOOTING 8- 1 to 8- 8
8.1 Explanations of the lists .................................................................................................................... 8- 1
8.2 Alarm list ........................................................................................................................................... 8- 2
8.3 Warning list ....................................................................................................................................... 8- 6
9. DIMENSIONS 9- 1 to 9- 6
9.1 Servo amplifier .................................................................................................................................. 9- 1
9.2 Connector ......................................................................................................................................... 9- 4
10. CHARACTERISTICS 10- 1 to 10- 8
10.1 Overload protection characteristics .............................................................................................. 10- 1
10.2 Power supply capacity and generated loss .................................................................................. 10- 2
10.3 Dynamic brake characteristics ...................................................................................................... 10- 4
10.3.1 Dynamic brake operation ....................................................................................................... 10- 5
10.3.2 Permissible load to motor inertia when the dynamic brake is used ....................................... 10- 6
10.4 Cable bending life ......................................................................................................................... 10- 6
10.5 Inrush current at power-on ........................................................................................................... 10- 7
11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-32
11.1 Cable/connector sets .................................................................................................................... 11- 1
11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2
11.2 Regenerative option ...................................................................................................................... 11- 4
11.2.1 Combination and regenerative power .................................................................................... 11- 4
11.2.2 Selection of regenerative option ............................................................................................ 11- 5
11.2.3 Parameter setting ................................................................................................................... 11- 6
11.2.4 Connection of regenerative option ......................................................................................... 11- 7
11.2.5 Dimensions ........................................................................................................................... 11-11
11.3 Junction terminal block MR-TB50 ................................................................................................ 11-13
11.4 MR Configurator2 ........................................................................................................................ 11-15
11.4.1 Specifications ........................................................................................................................ 11-15
11.4.2 System requirements ............................................................................................................ 11-16
11.4.3 Precautions for using USB communication function ............................................................. 11-17
11.5 Selection example of wires .......................................................................................................... 11-18
11.6 Molded-case circuit breakers, fuses, magnetic contactors ......................................................... 11-19
11.7 Power factor improving AC reactor .............................................................................................. 11-20
11.8 Relay (recommended) ................................................................................................................. 11-21
11.9 Noise reduction techniques ......................................................................................................... 11-22
11.10 Earth-leakage current breaker ................................................................................................... 11-28
11.11 EMC filter (recommended) ........................................................................................................ 11-30
12. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 12- 1 to 12-34
12.1 Structure ....................................................................................................................................... 12- 1
12.1.1 Configuration diagram ............................................................................................................ 12- 1
12.1.2 Precautions for using RS422/USB communication function .................................................. 12- 2
4
12.2 Communication specifications ...................................................................................................... 12- 3
12.2.1 Outline of communication ...................................................................................................... 12- 3
12.2.2 Parameter setting ................................................................................................................... 12- 3
12.3 Protocol ......................................................................................................................................... 12- 4
12.3.1 Transmission data configuration ............................................................................................ 12- 4
12.3.2 Character codes ..................................................................................................................... 12- 5
12.3.3 Error codes ............................................................................................................................. 12- 6
12.3.4 Checksum .............................................................................................................................. 12- 6
12.3.5 Time-out processing............................................................................................................... 12- 6
12.3.6 Retry processing .................................................................................................................... 12- 7
12.3.7 Initialization ............................................................................................................................ 12- 7
12.3.8 Communication procedure example ...................................................................................... 12- 8
12.4 Command and data No. list .......................................................................................................... 12- 9
12.4.1 Reading command ................................................................................................................. 12- 9
12.4.2 Writing commands ................................................................................................................ 12-13
12.5 Detailed explanations of commands ............................................................................................ 12-15
12.5.1 Data processing .................................................................................................................... 12-15
12.5.2 Status display mode .............................................................................................................. 12-17
12.5.3 Parameter ............................................................................................................................. 12-18
12.5.4 External I/O signal status (DIO diagnosis) ............................................................................ 12-22
12.5.5 Input device on/off ................................................................................................................. 12-25
12.5.6 Disabling/enabling I/O devices (DIO) .................................................................................... 12-25
12.5.7 Input devices on/off (test operation) ...................................................................................... 12-26
12.5.8 Test operation mode ............................................................................................................. 12-27
12.5.9 Output signal pin on/off (output signal (DO) forced output) .................................................. 12-30
12.5.10 Alarm history ....................................................................................................................... 12-31
12.5.11 Current alarm ...................................................................................................................... 12-32
12.5.12 Software version ................................................................................................................. 12-33
APPENDIX App. - 1 to App. -22
App. 1 Peripheral equipment manufacturer (for reference) .............................................................. App.- 1
App. 2 Compliance with global standards ........................................................................................ App.- 1
App. 3 Analog monitor ..................................................................................................................... App.-12
App. 4 Low-voltage directive ........................................................................................................... App.-15
App. 5 Using HF-KN series and HF-SN series servo motors ......................................................... App.-16
App. 6 When turning on or off the input power supply with DC power supply ................................ App.-18
App. 7 Using the neutral point of a 3-phase 400 V AC class power supply for inputting a
1-phase 200 V AC class power supply ................................................................................ App.-19
App. 8 Status of general-purpose AC servo products for compliance with the China RoHS
directive ................................................................................................................................ App.-21
5
MEMO
6
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
The Mitsubishi Electric general-purpose AC servo MELSERVO-JE series have limited functions with keeping
high performance based on MELSERVO-J4 series.
The servo amplifier has position, speed, and torque control modes. In the position control mode, the
maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes
switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is
applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools
and general industrial machines but also line control and tension control.
With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to
the machine.
The tough drive function, drive recorder function, and preventive maintenance support function strongly
support machine maintenance.
The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to
the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain
adjustment, and others.
The MELSERVO-JE series servo motor equipped with an incremental encoder whose resolution is 131072
pulses/rev will enable a high-accuracy positioning.
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-JE-100A or less
Regenerative
option
(Note 2)
Power
supply
W
RA
24 V DC
Servo motor
U
V
B1
B
B2
Encoder
M
Electromagnetic
brake
P+
Diode
stack
MCMCCB
L1
U
L2
U U
L3
Relay
Position
command
input
Control
circuit
power
Model
position
control
Model position
(Note 1)
+
Regenerative
TR
CHARGE
lamp
Base
amplifier
Model
speed
control
Model speed Model torque
C
Voltage
detection
Overcurrent
protection
Virtual
motor
brake circuit
detection
Virtual
encoder
Dynamic
Current
encoder
Current
U
V
W
CN2
Analog
(2 channels)
Actual
position
control
CN1
Analog monitor
(2 channels)
RS-422/
RS-485
Actual
speed
control
Controller
RS-422/
RS-485
Current
I/F
D I/O control
Servo-on
Input command pulse.
Start
Malfunction, etc.
control
USBA/D D/A
CN3
Note 1. The built-in regenerative resistor is not provided for MR-JE-10A and MR-JE-20A.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
For the power supply specifications, refer to section 1.3.
Personal
computer
USB
1 - 2
1. FUNCTIONS AND CONFIGURATION
(2) MR-JE-200A or more
Regenerative
option
(Note)
Power
supply
W
RA
24 V DC
Servo motor
U
V
B1
B
B2
Encoder
M
Electromagnetic
brake
CDP+
Diode
stack
MCMCCB
L1
U
L2
U U
L3
Relay
Position
command
input
Control
circuit
power
Model
position
control
Model position
+
CHARGE
lamp
Cooling fan
Base
amplifier
Regenerative
TR
Voltage
detection
Model
speed
control
Model speed Model torque
Overcurrent
protection
Virtual
motor
brake circuit
detection
Virtual
encoder
Dynamic
Current
encoder
Current
U
V
W
CN2
Actual
position
control
RS-422/
RS-485
CN1
Analog
(2 channels)
Analog monitor
(2 channels)
Controller
RS-422/
RS-485
Note. For the power supply specifications, refer to section 1.3.
Actual
speed
control
Current
I/F
D I/O control
Servo-on
Input command pulse.
Start
Malfunction, etc.
control
USBA/D D/A
CN3
Personal
computer
USB
1 - 3
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
Model: MR-JE- 10A 20A 40A 70A 100A 200A 300A
Output
Power supply
input
Interface
power supply
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
Communication function
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Position
control mode
Speed control
mode
Torque
control mode
Positioning mode
Protective functions
Compliance
with global
standards
Structure (IP rating) Natural cooling, open (IP20)
Close
mounting
(Note 2)
Rated voltage 3-phase 170 V AC
Rated current [A] 1.1 1.5 2.8 5.8 6.0 11.0 11.0
Voltage/Frequency
Rated current
(Note 5)
Permissible voltage
fluctuation
Permissible frequency
fluctuation
Power supply capacity
[kVA]
Inrush current [A] Refer to section 10.5.
Voltage 24 V DC ± 10%
Current capacity [A] 0.3 (Note 1)
Max. input pulse
frequency
Positioning feedback
pulse
Command pulse
multiplying factor
In-position range
setting
Error excessive ±3 revolutions
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed
command input
Speed fluctuation ratio
Torque limit Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque)
Analog torque
command input
Speed limit Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed)
CE marking
UL standard UL 508C
3-phase power supply
input
1-phase power supply
input
3-phase or 1-phase 200 V AC to 240 V AC, 50
[A]
0.9 1.5 2.6 3.8 5.0 10.5 14.0
3-phase or 1-phase 170 V AC to 264 V AC
Within ±5%
Refer to section 10.2.
USB: connection to a personal computer or others (MR Configurator2-compatible)
RS-422/RS-485: Connection to controller (1: n communication up to 32 axes) (Note 4, 7)
4 Mpulses/s (for differential receiver) (Note 3), 200 kpulses/s (for open collector)
Encoder resolution (resolution per servo motor revolution): 131072 pulses/rev
Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000
0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
±0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation ±10%), ±0.2% or less
(ambient temperature 25 °C ± 10 °C) when using analog speed command
0 V DC to ±8 V DC/maximum torque (input impedance 10 kΩ to 12 kΩ)
Refer to section 1.1 of "MR-JE-_A Servo Amplifier Instruction Manual (Positioning Mode)"
The positioning mode is available with servo amplifiers with software version B7 or later.
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
undervoltage protection, instantaneous power failure protection, overspeed protection, and
Possible
Possible Impossible
Hz/60 Hz
0 pulse to ±65535 pulses (command pulse unit)
error excessive protection
LVD: EN 61800-5-1
EMC: EN 61800-3
3-phase or 1-phase
200 V AC to 240 V AC,
50 Hz/60 Hz (Note 6)
3-phase or 1-phase
170 V AC to 264 V AC
(Note 6)
Force cooling, open
3-phase
200 V AC to
240 V AC,
50 Hz/60 Hz
3-phase
170 V AC to
264 V AC
(IP20)
1 - 4
1. FUNCTIONS AND CONFIGURATION
s
Model: MR-JE- 10A 20A 40A 70A 100A 200A 300A
Ambient
temperature
Ambient
Environment
Mass [kg] 0.8 1.5 2.1
humidity
Ambience
Altitude 2000 m or less above sea level (Note 8)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 °C to 45 °C or at
75% or smaller effective load ratio.
3. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4 Mpulses/
or lower, change the setting in [Pr. PA13].
4. The RS-422 communication function is supported by servo amplifier manufactured in December 2013 or later. Refer to section
1.6 (1) for the year and month of manufacture.
5. These are current values for 3-phase power supply.
6. When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio.
7. The RS-485 communication function is available with servo amplifiers manufactured in May 2015 or later. Refer to section 1.6
(1) for the year and month of manufacture.
8. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
Operation 0 °C to 55 °C (non-freezing)
Storage -20 °C to 65 °C (non-freezing)
Operation
Storage
free from corrosive gas, flammable gas, oil mist, dust, and dirt
5 %RH to 90 %RH (non-condensing)
Indoors (no direct sunlight),
1 - 5
1. FUNCTIONS AND CONFIGURATION
1.4 Combinations of servo amplifiers and servo motors
Servo amplifier Servo motor
MR-JE-10A HG-KN13_
MR-JE-20A HG-KN23_
MR-JE-40A HG-KN43_
MR-JE-70A HG-KN73_
MR-JE-100A HG-SN102_
MR-JE-200A HG-SN152_
MR-JE-300A HG-SN302_
HG-SN52_
HG-SN202_
1 - 6
1. FUNCTIONS AND CONFIGURATION
1.5 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field.
Function Description
This function achieves a high response and stable control following the ideal model.
The two-degree-of-freedom-model model adaptive control enables you to set a
Model adaptive control
Position control mode This servo is used as a position control servo.
Speed control mode This servo is used as a speed control servo.
Torque control mode This servo is used as a torque control servo.
Position/speed control switch
mode
Speed/torque control switch
mode
Torque/position control switch
mode
Positioning mode
High-resolution encoder
Gain switching function
Advanced vibration
suppression control II
Machine resonance
suppression filter
Shaft resonance suppression
filter
Adaptive filter II
Low-pass filter
Machine analyzer function
Robust filter
Slight vibration suppression
control
Electronic gear Input pulses can be multiplied by 1/10 to 4000.
S-pattern
acceleration/deceleration time
constant
Auto tuning
Regenerative option
Alarm history clear Alarm history is cleared. [Pr. PC18]
Output signal selection
(device settings)
response to the command and response to the disturbance separately.
Additionally, this function can be disabled. Refer to section 7.4 for disabling this
function. Used by servo amplifiers with software version B4 or later. Check the
software version using MR Configurator2.
Using an input device, control can be switched between position control and speed
control.
Using an input device, control can be switched between speed control and torque
control.
Using an input device, control can be switched between torque control and position
control.
In this mode, MR-JE-_A servo amplifiers are used in with point table or program
method. For details, refer to "MR-JE-_A Servo Amplifier Instruction Manual
(Positioning Mode)." The positioning mode is available with servo amplifiers with
software version B7 or later.
High-resolution encoder of 131072 pulses/rev is used for the encoder of the servo
motor compatible with the MELSERVO-JE series.
You can switch gains during rotation and during stop, and can use an input device to
switch gains during operation.
This function suppresses vibration at the arm end or residual vibration. Section 7.1.5
This is a filter function (notch filter) which decreases the gain of the specific frequency
to suppress the resonance of the mechanical system.
When a load is mounted to the servo motor shaft, resonance by shaft torsion during
driving may generate a mechanical vibration at high frequency. The shaft resonance
suppression filter suppresses the vibration.
Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
increased.
Analyzes the frequency characteristic of the mechanical system by simply connecting
an MR Configurator2 installed personal computer and servo amplifier.
MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response level that
load to motor inertia ratio is high for such as roll send axes.
Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]
Speed can be increased and decreased smoothly. [Pr. PC03]
Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.
Used when the built-in regenerative resistor of the servo amplifier does not have
sufficient regenerative capability for the regenerative power generated.
ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and
other input device can be assigned to any pins.
Detailed
explanation
Section 3.2.1
Section 3.6.1
Section 4.2
Section 3.2.2
Section 3.6.2
Section 4.3
Section 3.2.3
Section 3.6.3
Section 4.4
Section 3.6.4
Section 3.6.5
Section 3.6.6
MR-JE-_A
Servo
Amplifier
Instruction
Manual
(Positioning
Mode)
Section 7.2
Section 7.1.1
Section 7.1.3
Section 7.1.2
Section 7.1.4
[Pr. PE41]
[Pr. PA06]
[Pr. PA07]
Section 6.3
Section 11.2
[Pr. PD03] to
[Pr. PD20]
1 - 7
1. FUNCTIONS AND CONFIGURATION
Function Description
Output signal selection
(device settings)
Output signal (DO) forced
output
Command pulse selection Command pulse train form can be selected from among three different types. [Pr. PA13]
Torque limit Servo motor torque can be limited to any value.
Speed limit Servo motor speed can be limited to any value.
Status display Servo status is shown on the 5-digit, 7-segment LED display. Section 4.5.3
External I/O signal display On/off statuses of external I/O signals are shown on the display. Section 4.5.7
Automatic VC offset
Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code. Chapter 8
Test operation mode
Analog monitor output Servo status is outputted in terms of voltage in real time.
MR Configurator2
One-touch tuning
Tough drive function
Drive recorder function
Servo amplifier life diagnosis
function
Power monitoring function
Machine diagnosis function
Lost motion compensation
function
Modbus RTU communication
function
The output devices including MBR (Electromagnetic brake interlock) can be assigned
to certain pins of the CN1 connector.
Output signal can be forced on/off independently of the servo status.
Use this function for checking output signal wiring, etc.
Voltage is automatically offset to stop the servo motor if it does not come to a stop
when VC (Analog speed command) or VLA (Analog speed limit is 0 V.
Jog operation, positioning operation, motor-less operation, DO forced output, and
program operation
MR Configurator2 is required for the positioning operation and program operation.
Using a personal computer, you can perform the parameter setting, test operation,
monitoring, and others.
Gain adjustment is performed just by one click on a certain button on MR
Configurator2 or operation section.
This function makes the equipment continue operating even under the condition that
an alarm occurs.
The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.
This function continuously monitors the servo status and records the status transition
before and after an alarm for a fixed period of time. You can check the recorded data
on the drive recorder window on MR Configurator2 by clicking the "Graph" button.
However, the drive recorder will not operate on the following conditions.
1. You are using the graph function of MR Configurator2.
2. You are using the machine analyzer function.
3. [Pr. PF21] is set to "-1".
You can check the cumulative energization time and the number of on/off times of the
inrush relay. This function gives an indication of the replacement time for parts of the
servo amplifier including a capacitor and a relay before they malfunction.
MR Configurator2 is necessary for this function.
This function calculates the power running energy and the regenerative power from
the data in the servo amplifier such as speed and current. Power consumption and
others are displayed on MR Configurator2.
From the data in the servo amplifier, this function estimates the friction and vibrational
component of the drive system in the equipment and recognizes an error in the
machine parts, including a ball screw and bearing.
MR Configurator2 is necessary for this function.
This function improves the response delay occurred when the machine moving
direction is reversed. This is used with servo amplifiers with software version C5 or
later. Check the software version of the servo amplifier using MR Configurator2.
The Modbus protocol uses dedicated message frames for the serial communication
between a master and slaves. The dedicated message frames have functions for
reading and writing data, and users can write parameters from servo amplifiers and
check the operation status of the servo amplifiers by using this function.
Detailed
explanation
[Pr. PD24] to
[Pr. PD28]
Section 4.5.8
Section 3.6.1
(5)
[Pr. PA11]
[Pr. PA12]
Section 3.6.3
(3)
[Pr. PC05] to
[Pr. PC11]
Section 4.5.4
Section 4.5.9
[Pr. PC14],
[Pr. PC15]
Section 11.4
Section 6.2
Section 7.3
[Pr. PA23]
Section 7.5
MR-JE-_A
Servo
Amplifier
Instruction
Manual
(Modbus RTU
Protocol)
1 - 8
1. FUNCTIONS AND CONFIGURATION
1.6 Model designation
(1) Rating plate
The following shows an example of rating plate for explanation of each item.
AC SERVO
SER. S4Y001001
MR-JE-10A
: 100W
POWER
: 3AC/200-240V 0.9A/1.5A 50/60Hz
INPUT
: 3PH170V 0-360Hz 1.1A
OUTPUT
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300194
Max. Surrounding Air Temp.: 55°C
IP20
KCC-REI-MEK-TC300A745G51
TOKYO 100-8310, JAPAN MADE IN JAPAN
DATE: 2014-11
(2) Model
The following describes what each block of a model name indicates.
MR -JE-10A
Series
General-purpose interface
Rated output
Symbol Rated output [kW]
10 0.1
20 0.2
40 0.4
70 0.75
100 1
200 2
300 3
Serial number
Model
Capacity
Applicable power supply
Rated output current
Standard, Manual number
Ambient temperature
IP rating
KC certification number
The year and month of manufacture
Country of origin
1 - 9
1. FUNCTIONS AND CONFIGURATION
1.7 Structure
1.7.1 Parts identification
(1) MR-JE-100A or less
(1)
(2)
(3)
(7)
Side
(4)
No. Name/Application
(1)
(2)
Display
The 5-digit, 7-segment LED shows the servo status
and the alarm number.
Operation section
Used to perform status display, diagnostic, alarm,
and parameter setting operations. Push the "MODE"
and "SET" buttons at the same time for 3 s or more
to switch to the one-touch tuning mode.
Used to change the mode.
Used to change the
display or data in each
mode.
Used to set data.
Detailed
explanati
on
Section
4.5
Section
4.5
Section
6.2
To the one-touch tuning
mode
Section
11.4
Section
3.2
Section
3.4
Chapter
12
Section
3.4
Section
3.1
Section
3.3
1.6
Section
3.1
Section
3.3
Bottom
(9)
(5)
(8)
(6)
USB communication connector (CN3)
(3)
Connect with the personal computer.
I/O signal connector (CN1)
Digital I/O signal, analog input signal, analog
monitor output signal, and RS-422/RS-485
(4)
communication controller are connected.
Encoder connector (CN2)
(5)
Used to connect the servo motor encoder.
Power connector (CNP1)
Input power supply, built-in regenerative resistor,
(6)
regenerative option, and servo motor are connected.
Rating plate Section
(7)
Charge lamp
(8)
When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal
Grounding terminal
(9)
1 - 10
1. FUNCTIONS AND CONFIGURATION
(2) MR-JE-200A or more
(1)
No. Name/Application
(2)
(3)
(1)
(6)
(7)
Side
(4)
(2)
Display
The 5-digit, 7-segment LED shows the servo status
and the alarm number.
Operation section
Used to perform status display, diagnostic, alarm,
and parameter setting operations. Push the "MODE"
and "SET" buttons at the same time for 3 s or more
to switch to the one-touch tuning mode.
Used to change the mode.
Used to change the
display or data in each
mode.
Used to set data.
Detailed
explanati
on
Section
4.5
Section
4.5
Section
6.2
(8)
(9)
(10)
Bottom
(5)
To the one-touch tuning
mode
USB communication connector (CN3)
(3)
Connect with the personal computer.
I/O signal connector (CN1)
Digital I/O signal, analog input signal, analog
monitor output signal, and RS-422/RS-485
(4)
communication controller are connected.
Encoder connector (CN2)
(5)
Used to connect the servo motor encoder.
Power connector (CNP1)
Input power supply and regenerative option are
(6)
connected.
Rating plate Section
(7)
Servo motor power connector (CNP2)
Connect the servo motor.
(8)
Charge lamp
(9)
When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal
Grounding terminal
(10)
Section
11.4
Section
3.2
Section
3.4
Chapter
12
Section
3.4
Section
3.1
Section
3.3
1.6
Section
3.1
Section
3.3
Section
3.1
Section
3.3
1 - 11
1. FUNCTIONS AND CONFIGURATION
1.8 Configuration including peripheral equipment
CAUTION
(1) MR-JE-100A or less
The diagram shows MR-JE-40A.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo
amplifier may cause a malfunction.
POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.
(Note 1)
Power
supply
Molded-case
circuit breaker
(Note 2)
Magnetic
contactor
(MC)
Power factor
improving AC
reactor
(FR-HAL)
Line noise
filter
(FR-BSF01)
RS T
Personal
computer
MR Configurator2
CN3
CN1
Junction terminal block
CN2
L1
L2
L3
U
V
W
Note 1. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply
specifications, refer to section 1.3.
2. Depending on the power supply voltage and operation pattern, bus voltage can decrease. This can shift the mode to the
dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, slow the time to
turn off the magnetic contactor.
Servo motor
1 - 12
1. FUNCTIONS AND CONFIGURATION
(2) MR-JE-200A or more
The diagram shows MR-JE-200A.
(Note 1)
Power
supply
Molded-case
circuit breaker
(Note 2)
Magnetic
contactor
(MC)
Power factor
improving AC
reactor
(FR-HAL)
Line noise
filter
(FR-BSF01)
RS T
CN3
MR Configurator2
Personal
computer
L1
L2
L3
CN1
Junction terminal block
U
V
W
CN2
Servo motor
Note 1. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-JE-200A. For 1-phase 200 V AC
to 240 V AC, connect the power supply to L1 and L2. Leave L3 open. For the power supply specifications, refer to section 1.3.
2. Depending on the power supply voltage and operation pattern, bus voltage can decrease. This can shift the mode to the
dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, slow the time to
turn off the magnetic contactor.
1 - 13
1. FUNCTIONS AND CONFIGURATION
MEMO
1 - 14
2. INSTALLATION
2. INSTALLATION
WARNING
CAUTION
To prevent electric shock, ground each equipment securely.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the lead of the built-in regenerative resistor, cables, or connectors
when carrying the servo amplifier. Otherwise, it may drop.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to smoke or a fire.
Install the servo amplifier and the servo motor in a load-bearing place in
accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
Use the equipment within the specified environment. For the environment, refer to
section 1.3.
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it
may cause a malfunction.
Do not drop or apply heavy impact on the servo amplifiers and the servo motors.
Otherwise, injury, malfunction, etc. may occur.
Do not install or operate the servo amplifier which has been damaged or has any
parts missing.
When the product has been stored for an extended period of time, contact your
local sales office.
When handling the servo amplifier, be careful about the edged parts such as
corners of the servo amplifier.
The servo amplifier must be installed in a metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine,
bromine, and iodine are used for disinfecting and protecting wooden packaging
from insects, they cause malfunction when entering our products. Please take
necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat
method). Additionally, disinfect and protect wood from insects before packing
products.
2 - 1
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