Mitsumi electronic mr-j3-b User Manual
General-Purpose AC Servo
SSCNET /H Interface AC Servo
MODEL
MR-JE-_B
SERVO AMPLIFIER
INSTRUCTION MANUAL
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
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.
CAUTION level may lead to a serious consequence according to conditions.
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 with ) of the
servo amplifier to the protective earth (PE) of the cabinet.
When using an earth-leakage current breaker (RCD), select the type B.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following.
CAUTION
Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to smoke or a fire.
Always connect a magnetic contactor between the power supply and the power supply (L1, L2, and L3)
of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the
servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large
current may cause 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, and L3) of the servo amplifier, in order to configure a circuit that
shuts down the power supply on the side of the servo amplifier’s power supply. If a 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 a 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-40B to MR-JE-100B, 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.
A - 2
3. To prevent injury, note the following.
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for
some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the
parts (cables, etc.) by hand.
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 wire of the built-in regenerative resistor when transporting the servo amplifier.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient
temperature
Storage -20 ˚C to 65 ˚C (non-freezing)
Ambient
humidity
Storage
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 1000 m or less above sea level
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
Operation 0 ˚C to 55 ˚C (non-freezing)
Operation
90%RH or less (non-condensing)
A - 3
r
CAUTION
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, such as heat treatment.
Additionally, disinfect and protect wood from insects before packing the products.
(2) Wiring
CAUTION
Before removing the CNP1 connector from MR-JE-40B to MR-JE-100B, disconnect the lead wires of the
regenerative resistor from the CNP1 connector.
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier
output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo
amplifier and servo motor.
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo 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.
A - 4
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never adjust or change the parameter values drastically as doing so will make the 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.
Do not disassemble, repair, or modify the equipment.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
Servo motor
B
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
Contacts must be opened
with the EMG stop switch.
RA
24 V DC
A - 5
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary
accident due to a malfunction, it is recommended that the electrolytic capacitor be replaced every 10
years when it is used in general environment. For replacement, please contact your local sales office.
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.
DISPOSAL OF WASTE
Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and
regulations.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the
EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Compliance with global standards
Refer to appendix 4 for the compliance with global standards.
«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)030166
MELSERVO HG-KN_/HG-SN_ Servo Motor Instruction Manual SH(NA)030135
EMC Installation Guidelines IB(NA)67310
A - 6
«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 [in]
Torque 1 [N•m] 141.6 [oz•in]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•in2]
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 1-12
1.1 Summary ........................................................................................................................................... 1- 1
1.2 Function block diagram ..................................................................................................................... 1- 2
1.3 Servo amplifier standard specifications ............................................................................................ 1- 4
1.4 Combinations of servo amplifiers, servo motors, and controllers ..................................................... 1- 5
1.4.1 Combinations of servo amplifiers and servo motors .................................................................. 1- 5
1.4.2 Compatible controller ................................................................................................................. 1- 5
1.5 Function list ....................................................................................................................................... 1- 6
1.6 Model designation ............................................................................................................................. 1- 8
1.7 Structure ........................................................................................................................................... 1- 9
1.7.1 Parts identification ...................................................................................................................... 1- 9
1.8 Configuration including peripheral equipment ................................................................................. 1-11
2. INSTALLATION 2- 1 to 2- 8
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 SSCNET III cable laying ................................................................................................................... 2- 4
2.5 Inspection items ................................................................................................................................ 2- 6
2.6 Parts having service lives ................................................................................................................. 2- 7
3. SIGNALS AND WIRING 3- 1 to 3-42
3.1 Input power supply circuit ................................................................................................................. 3- 2
3.2 I/O signal connection example ......................................................................................................... 3-11
3.2.1 For sink I/O interface ................................................................................................................. 3-11
3.2.2 For source I/O interface ............................................................................................................ 3-12
3.3 Explanation of power supply system ............................................................................................... 3-13
3.3.1 Signal explanations ................................................................................................................... 3-13
3.3.2 Power-on sequence .................................................................................................................. 3-14
3.3.3 Wiring CNP1 and CNP2 ............................................................................................................ 3-15
3.4 Connectors and pin assignment ...................................................................................................... 3-17
3.5 Signal (device) explanations ............................................................................................................ 3-18
3.5.1 Input device ............................................................................................................................... 3-18
3.5.2 Output device ............................................................................................................................ 3-19
3.5.3 Power supply ............................................................................................................................. 3-20
3.6 Forced stop deceleration function ................................................................................................... 3-21
3.6.1 Forced stop deceleration function ............................................................................................. 3-21
3.6.2 Base circuit shut-off delay time function ................................................................................... 3-22
3.6.3 Vertical axis freefall prevention function ................................................................................... 3-23
3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-23
3.7 Alarm occurrence timing chart ......................................................................................................... 3-24
3.7.1 When you use the forced stop deceleration function ................................................................ 3-24
3.7.2 When you do not use the forced stop deceleration function ..................................................... 3-25
3.7.3 Hot line forced stop function...................................................................................................... 3-26
3.8 Interfaces ......................................................................................................................................... 3-32
1
3.8.1 Internal connection diagram ...................................................................................................... 3-32
3.8.2 Detailed explanation of interfaces ............................................................................................. 3-33
3.8.3 Source I/O interfaces ................................................................................................................ 3-34
3.9 SSCNET III cable connection .......................................................................................................... 3-35
3.10 Servo motor with an electromagnetic brake .................................................................................. 3-37
3.10.1 Safety precautions .................................................................................................................. 3-37
3.10.2 Timing chart ............................................................................................................................ 3-38
3.11 Grounding ...................................................................................................................................... 3-41
4. STARTUP 4- 1 to 4-14
4.1 Switching power on for the first time ................................................................................................. 4- 1
4.1.1 Startup procedure ...................................................................................................................... 4- 1
4.1.2 Wiring check ............................................................................................................................... 4- 2
4.1.3 Surrounding environment ........................................................................................................... 4- 3
4.2 Startup .............................................................................................................................................. 4- 4
4.3 Switch setting and display of the servo amplifier .............................................................................. 4- 5
4.3.1 Axis selection rotary switch (SW1) ............................................................................................. 4- 5
4.3.2 Scrolling display ......................................................................................................................... 4- 7
4.3.3 Status display of an axis ............................................................................................................ 4- 8
4.4 Test operation .................................................................................................................................. 4-10
4.5 Test operation mode ........................................................................................................................ 4-10
4.5.1 Test operation mode in MR Configurator2 ................................................................................ 4-11
4.5.2 Motor-less operation in the controller ........................................................................................ 4-13
5. PARAMETERS 5- 1 to 5-38
5.1 Parameter list .................................................................................................................................... 5- 1
5.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 5- 2
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 3
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 4
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 6
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 5- 7
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 5- 8
5.2 Detailed list of parameters ............................................................................................................... 5-10
5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 5-10
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-18
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-30
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-33
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 5-36
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-37
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-18
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- 4
6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 5
6.2.3 Caution for one-touch tuning ...................................................................................................... 6- 8
2
6.3 Auto tuning ........................................................................................................................................ 6- 9
6.3.1 Auto tuning mode ....................................................................................................................... 6- 9
6.3.2 Auto tuning mode basis ............................................................................................................. 6-10
6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-11
6.3.4 Response level setting in auto tuning mode ............................................................................. 6-12
6.4 Manual mode ................................................................................................................................... 6-13
6.5 2 gain adjustment mode .................................................................................................................. 6-16
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- 6
7.1.4 Low-pass filter ............................................................................................................................ 7- 7
7.1.5 Advanced vibration suppression control II ................................................................................. 7- 7
7.1.6 Command notch filter ................................................................................................................ 7-11
7.2 Gain switching function .................................................................................................................... 7-13
7.2.1 Applications ............................................................................................................................... 7-13
7.2.2 Function block diagram ............................................................................................................. 7-14
7.2.3 Parameter .................................................................................................................................. 7-15
7.2.4 Gain switching procedure ......................................................................................................... 7-18
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 ...................................................................................................... 7-26
7.5 Lost motion compensation function ................................................................................................. 7-27
8. TROUBLESHOOTING 8- 1 to 8- 6
8.1 Explanation for the lists ..................................................................................................................... 8- 1
8.2 Alarm list ........................................................................................................................................... 8- 2
8.3 Warning list ....................................................................................................................................... 8- 5
9. DIMENSIONS 9- 1 to 9- 4
9.1 Servo amplifier .................................................................................................................................. 9- 1
9.2 Connector ......................................................................................................................................... 9- 4
10. CHARACTERISTICS 10- 1 to 10- 8
10.1 Overload protection characteristics .............................................................................................. 10- 1
10.2 Power supply capacity and generated loss .................................................................................. 10- 3
10.3 Dynamic brake characteristics ...................................................................................................... 10- 5
10.3.1 Dynamic brake operation ....................................................................................................... 10- 5
10.3.2 Permissible load to motor inertia when the dynamic brake is used ....................................... 10- 6
10.4 Cable bending life ......................................................................................................................... 10- 7
10.5 Inrush current at power-on ........................................................................................................... 10- 7
3
11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-48
11.1 Cable/connector sets .................................................................................................................... 11- 1
11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2
11.1.2 SSCNET III cable ................................................................................................................... 11- 5
11.1.3 Battery cable and junction battery cable ................................................................................ 11- 7
11.2 Regenerative option ...................................................................................................................... 11- 8
11.2.1 Combination and regenerative power .................................................................................... 11- 8
11.2.2 Selection of regenerative option ............................................................................................ 11- 9
11.2.3 Parameter setting .................................................................................................................. 11-10
11.2.4 Connection of regenerative option ........................................................................................ 11-11
11.2.5 Dimensions ........................................................................................................................... 11-15
11.3 Junction terminal block PS7DW-20V14B-F (recommended) ...................................................... 11-17
11.4 MR Configurator2 ........................................................................................................................ 11-18
11.4.1 Specifications ........................................................................................................................ 11-18
11.4.2 System requirements ............................................................................................................ 11-19
11.4.3 Precautions for using USB communication function ............................................................. 11-20
11.5 Battery .......................................................................................................................................... 11-21
11.5.1 Selection of battery ............................................................................................................... 11-21
11.5.2 MR-BAT6V1SET-A battery ................................................................................................... 11-22
11.5.3 MR-BT6VCASE battery case ................................................................................................ 11-26
11.5.4 MR-BAT6V1 battery .............................................................................................................. 11-32
11.6 Selection example of wires .......................................................................................................... 11-33
11.7 Molded-case circuit breakers, fuses, magnetic contactors ......................................................... 11-34
11.8 Power factor improving AC reactor .............................................................................................. 11-35
11.9 Relay (recommended) ................................................................................................................. 11-36
11.10 Noise reduction techniques ....................................................................................................... 11-37
11.11 Earth-leakage current breaker ................................................................................................... 11-43
11.12 EMC filter (recommended) ........................................................................................................ 11-45
12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 4
12.1 Summary ....................................................................................................................................... 12- 1
12.1.1 Features ................................................................................................................................. 12- 1
12.1.2 Configuration .......................................................................................................................... 12- 2
12.1.3 Parameter setting ................................................................................................................... 12- 2
12.1.4 Confirmation of absolute position detection data ................................................................... 12- 2
12.2 Battery ........................................................................................................................................... 12- 3
12.2.1 Using the MR-BAT6V1SET-A battery .................................................................................... 12- 3
12.2.2 Using the MR-BT6VCASE battery case................................................................................. 12- 4
APPENDIX App. - 1 to App. -18
App. 1 Peripheral equipment manufacturer (for reference) .............................................................. App.- 1
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the
Transport of Dangerous Goods ............................................................................................ App.- 1
App. 3 Symbol for the new EU Battery Directive .............................................................................. App.- 3
App. 4 Compliance with global standards ........................................................................................ App.- 3
App. 5 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System &
Service ................................................................................................................................. App.-15
App. 6 Low-voltage directive ........................................................................................................... App.-16
4
App. 7 When turning on or off the input power supply with DC power supply ................................ App.-17
App. 8 When using the hot line forced stop function in combination with MR-J4-_B servo
amplifier ................................................................................................................................ App.-18
5
MEMO
6
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
POINT
Refer to section 1.4.2 for compatible controllers.
The Mitsubishi general-purpose AC servo MELSERVO-JE series have limited functions with keeping high
performance based on MELSERVO-J4 series.
The MR-JE-_B servo amplifier is connected to controllers, including a servo system controller, on the highspeed synchronous network SSCNET III/H. The servo amplifier directly receives a command from a
controller to drive a servo motor.
SSCNET III/H achieves high-speed communication of 150 Mbps full duplex with high noise immunity due to
the SSCNET III optical cables. Large amounts of data can be exchanged in real-time between the controller
and the servo amplifier. Servo monitor information can be stored in the upper information system and used
for control.
With one-touch tuning and real-time auto tuning, you can easily and 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 servo motor equipped with an absolute position 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-100B or less
Regenerative
option
(Note 2)
Power
supply
U
V
W
RA
Servo motor
M
B1
Electromagnetic
B
brake
B2
Encoder
P+
Diode
stack
MCMCCB
L1
U
L2
U U
L3
Relay
Position
command
input
Control
circuit
power
Model
position
control
+
CHARGE
lamp
Base
amplifier
(Note 1)
Regenerative
TR
Model
speed
control
C
Voltage
detection
Overcurrent
protection
Virtual
motor
brake circuit
detection
Virtual
encoder
Dynamic
Current
detector
Current
Stepdown
circuit
U
V
W
24 V DC
CN2
Model position
Actual
position
control
I/F Control
CN1A CN1B CN3
Servo system
controller or
servo amplifier
Servo
amplifier
or cap
Model speed Model torque
Actual
speed
control
Digital I/O
control
Current
control
Note 1. The built-in regenerative resistor is not provided for MR-JE-10B and MR-JE-20B.
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.
USB
CN5
Personal
computer
USB
CN4
Battery
(for absolute position
detection system)
1 - 2
1. FUNCTIONS AND CONFIGURATION
(2) MR-JE-200B or more
Regenerative
option
(Note 1)
Power
supply
U
V
W
RA
Servo motor
M
B1
Electromagnetic
B
brake
B2
N- (Note 2)CDP+
Diode
stack
MCMCCB
L1
U
L2
UU
L3
Relay
+
CHARGE
lamp
Regenerative
TR
Dynamic
brake circuit
Current
detector
U
V
W
Cooling fan
24 V DC
Control
circuit
power
Base
amplifier
Voltage
detection
Overcurrent
protection
Current
detection
CN2
Encoder
motor
Virtual
encoder
Stepdown
circuit
Position
command
input
Model
position
control
Model
speed
control
Virtual
USB
USB
CN4
Battery
(for absolute position
detection system)
Model position
Actual
position
control
Model speed Model torque
Actual
speed
control
I/F Control
CN1A CN1B CN3
controller or
servo amplifier
Servo
amplifier
or cap
Digital I/O
control
Current
control
USB
CN5
Personal
computerServo system
Note 1. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-JE-200B. 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. This terminal is for manufacturer adjustment. Leave this terminal open.
1 - 3
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
Model: MR-JE- 10B 20B 40B 70B 100B 200B 300B
Output
Power supply
input
Interface
power supply
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
SSCNET III/H communication cycle
(Note 3)
Communication function USB: Connection to a personal computer or others (MR Configurator2-compatible)
Protective functions
Compliance
to standards
Structure (IP rating) Natural cooling, open (IP20)
Close
mounting
(Note 4)
Storage -20 ˚C to 65 ˚C (non-freezing)
Environment Storage
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 1000 m or less above sea level
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 0.8 1.5 2.1
Note 1. This value is applicable when a 3-phase power supply is used.
2. The current capacity 0.1 A is applicable when all I/O signals are used. The current capacity can be decreased by reducing the
3. The communication cycle depends on the controller specifications and the number of axes connected.
4. When closely mounting the servo amplifier, operate them at the ambient temperatures of 0 ˚C to 45 ˚C or at 75% or smaller
5. When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio.
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 1)
Permissible voltage
fluctuation
Permissible frequency
fluctuation
Power supply
capacity
Inrush current [A] Refer to section 10.5.
Voltage 24 V DC ± 10%
Current capacity [A] (Note 2) 0.1
CE marking
UL standard UL 508C
3-phase power supply
input
1-phase power supply
input
Ambient
temperature
Ambient
humidity
number of I/O points.
effective load ratio.
[kVA] Refer to section 10.2.
Operation 0 ˚C to 55 ˚C (non-freezing)
Operation
3-phase or 1-phase 200 V AC to 240 V AC, 50
Hz/60 Hz
[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%
0.444 ms, 0.888 ms
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
undervoltage protection, instantaneous power failure protection, overspeed protection, and
error excessive protection
LVD: EN 61800-5-1
EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Possible
Possible Impossible
90%RH or lower (non-condensing)
3-phase or 1-phase 200
V AC to 240 V AC, 50
Hz/60 Hz (Note 5)
3-phase or 1-phase 170
V AC to 264 V AC
(Note 5)
Force cooling, open
200 V AC
Hz/60 Hz
170 V AC
(IP20)
3-phase
to 240 V
AC, 50
3-phase
to 264 V
AC
1 - 4
1. FUNCTIONS AND CONFIGURATION
1.4 Combinations of servo amplifiers, servo motors, and controllers
1.4.1 Combinations of servo amplifiers and servo motors
Servo amplifier Servo motor
MR-JE-10B HG-KN13_
MR-JE-20B HG-KN23_
MR-JE-40B HG-KN43_
MR-JE-70B HG-KN73_
HG-SN52_
MR-JE-100B HG-SN102_
MR-JE-200B HG-SN152_
HG-SN202_
MR-JE-300B HG-SN302_
1.4.2 Compatible controller
For the simple motion module, refer to the user's manual of each series.
MELSEC iQ-R series RD77MS_
MELSEC-Q series QD77MS_
MELSEC-L series LD77MS_
MELSEC iQ-F series FX5-40SSC-S
Series Simple motion module
1 - 5
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 realizes a high response and stable control following the ideal model.
Model adaptive control
Position control mode This servo amplifier is used as a position control servo.
Speed control mode This servo amplifier is used as a speed control servo.
Torque control mode This servo amplifier is used as a torque control servo.
High-resolution encoder
Absolute position detection
system
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
Auto tuning
Regenerative option
Alarm history clear This function clears the alarm history. [Pr. PC21]
Output signal selection
(device settings)
Output signal (DO) forced
output
Test operation mode
MR Configurator2
One-touch tuning
Tough drive function
The two-degrees-of-freedom model adaptive control enables you to set a response to
the command and response to the disturbance separately.
Additionally, this function can be disabled. Refer to section 7.4 to disable this function.
A high-resolution encoder of 131072 pulses/rev is used as the encoder of the rotary
servo motor compatible with the MELSERVO-JE series.
Setting a home position once makes home position return unnecessary at every
power-on.
You can switch gains during rotation and during stop, and can use input devices to
switch gains during operation.
This function suppresses vibration at the arm end or residual vibration. Section 7.1.5
This filter function (notch filter) 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.
The servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
This function suppresses high-frequency resonance which occurs as servo system
response is increased.
This function analyzes the frequency characteristic of the mechanical system by
simply connecting an MR Configurator2 installed personal computer and servo
amplifier.
MR Configurator2 is necessary for this function.
This function enhances the disturbance response when the response level remains
low because the load to motor inertia ratio of axes, such as a roll feed axis, is high.
This function suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]
This function automatically adjusts the gain to an 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.
The output devices including MBR (Electromagnetic brake interlock) and ALM
(Malfunction) can be assigned to certain pins of the CN3 connector.
Output signal can be forced on/off independently of the servo status.
Use this function for checking output signal wiring, etc.
Jog operation, positioning operation, motor-less operation, DO forced output, and
program operation
MR Configurator2 is necessary for this function.
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.
MR Configurator2 is necessary for this function.
This function makes the equipment continue operating even under the condition that
an alarm occurs.
The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.
Detailed
explanation
Chapter 12
Section 7.2
Section 7.1.1
Section 7.1.3
Section 7.1.2
Section 7.1.4
[Pr. PE41]
Section 6.3
Section 11.2
[Pr. PD07]
Section 4.5.1
(1) (d)
Section 4.5
Section 11.4
Section 6.2
Section 7.3
1 - 6
1. FUNCTIONS AND CONFIGURATION
Function Description
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.
Drive recorder function
Servo amplifier life diagnosis
function
Power monitoring function
Machine diagnosis function
Continuous operation to
torque control mode
Lost motion compensation
function
Hot line forced stop function
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".
4. The controller is not connected (except the test operation mode).
5. An alarm related to the controller is occurring.
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. Since the servo amplifier sends data to a
servo system controller, you can analyze the data and display the data on a display
with the SSCNET III/H system.
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 allows smooth switching of the mode from the position control mode or
speed control mode to the torque control mode without stopping. This function
eliminates rapid change of speed and torque, contributing to reduction in load to the
machine and high-quality product molding. For details of the continuous operation to
torque control mode, refer to the manuals for servo system controllers.
This function corrects response delays caused when the machine travel direction is
reversed.
This function enables all the normally operating MR-JE-_B servo amplifiers to
decelerate to a stop by transmitting hot line forced stop signals via the controller if an
alarm occurs in the MR-JE-_B servo amplifier.
Detailed
explanation
[Pr. PA23]
[Pr. PB03]
Manuals of
servo system
controllers
Section 7.5
Section 3.7.3
1 - 7
1. FUNCTIONS AND CONFIGURATION
1.6 Model designation
(1) Rating plate
The following shows an example of the rating plate for explanation of each item.
AC SERVO
SER. A4Y001001
MR-JE-10B
POWER
: 100W
INPUT
: 3AC/200-240V 0.9A/1.5A 50/60Hz
OUTPUT
: 3PH170V 0-360Hz 1.1A
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300194
Max. Surrounding Air Temp.: 55°C
IP20
MSIP-REI-MEK- TC300A982G51
TOKYO 100-8310, JAPAN MADE IN JAPAN
DATE: 2014-11
(2) Model
The following describes what each block of a model name indicates.
SSCNETIII/H interface
Series
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 - 8
1. FUNCTIONS AND CONFIGURATION
1.7 Structure
1.7.1 Parts identification
(1) MR-JE-100B or less
No. Name/Application
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(1)
(2)
(5)
(9)
(6)
(3)
(4)
Side
(7)
(8)
(10)
(12)
(11)
Detailed
explanation
Display
The 3-digit, 7-segment LED shows the servo status and the
alarm number.
Axis selection rotary switch (SW1)
Used to set the axis number of the servo amplifier.
USB communication connector (CN5)
Used to connect this connector to a personal computer.
I/O signal connector (CN3)
Used to connect digital I/O signals.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
Battery holder
Used to house the battery for absolute position data
backup.
SSCNET III cable connector (CN1A)
Used to connect the servo system controller or the previous
axis servo amplifier.
SSCNET III cable connector (CN1B)
Used to connect the next axis servo amplifier. For the final
axis, put a cap.
Rating plate Section
Encoder connector (CN2)
Used to connect the servo motor encoder.
Power connector (CNP1)
Used to connect the input power supply, built-in
regenerative resistor, regenerative option, and servo motor.
Charge lamp
When the main circuit is charged, this lamp will light up.
While this lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal
Grounding terminal
Section
4.3
Section
11.4
Section
3.2
Section
3.4
Chapter
12
Section
3.2
Section
3.4
1.6
Section
3.4
Section
3.1
Section
3.3
Section
3.1
Section
3.3
(13)
1 - 9
1. FUNCTIONS AND CONFIGURATION
(2) MR-JE-200B or more
No. Name/Application
(1)
(3)
(2)
(3)
(4)
(4)
(9)
(5)
(6)
(10)
(7)
(13)
(8)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(5)
(6)
(7)
(11)
(12)
Side
(14)
(1)
(2)
Detailed
explanation
Display
The 3-digit, 7-segment LED shows the servo status and the
alarm number.
Axis selection rotary switch (SW1)
Used to set the axis number of the servo amplifier.
USB communication connector (CN5)
Used to connect this connector to a personal computer.
I/O signal connector (CN3)
Used to connect digital I/O signals.
Power connector (CNP1)
Used to connect the input power supply and regenerative
option.
Rating plate Section
Battery holder
Used to house the battery for absolute position data
backup.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup.
SSCNET III cable connector (CN1A)
Used to connect the servo system controller or the previous
axis servo amplifier.
SSCNET III cable connector (CN1B)
Used to connect the next axis servo amplifier. For the final
axis, put a cap.
Servo motor power connector (CNP2)
Used to connect the servo motor.
Charge lamp
When the main circuit is charged, this lamp will light up.
While this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Protective earth (PE) terminal
Grounding terminal
Section
4.3
Section
11.4
Section
3.2
Section
3.4
Section
3.1
Section
3.3
1.6
Chapter
12
Section
3.2
Section
3.4
Section
3.1
Section
3.3
Section
3.4
Section
3.1
Section
3.3
1 - 10
1. FUNCTIONS AND CONFIGURATION
1.8 Configuration including peripheral equipment
CAUTION
(1) MR-JE-100B or less
The diagram shows MR-JE-40B.
(Note 1)
Power supply
Molded-case
circuit breaker
(MCCB)
RST
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.
CN5
CN3
MR Configurator2
Personal
computer
Junction terminal
block
(Note 2)
Magnetic
contactor
(MC)
Power factor
improving AC
reactor (FR-HAL)
Line noise filter
(FR-BSF01)
L1
L2
L3
CN1A
CN1B
CN2
CN4
U
V
W
Battery
Servo system controller or
previous servo amplifier
CN1B
Next servo amplifier CN1A or
cap
Servo motor
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.
1 - 11
1. FUNCTIONS AND CONFIGURATION
(2) MR-JE-200B or more
The diagram shows MR-JE-200B.
(Note 1)
Power supply
Molded-case
circuit breaker
(MCCB)
(Note 2)
Magnetic
contactor
(MC)
Power factor
improving AC
reactor (FR-HAL)
Line noise filter
(FR-BSF01)
RS T
CN5
CN3
MR Configurator2
Personal
computer
Junction terminal
block
L1
L2
L3
CN1A
U
V
W
CN1B
CN2
CN4
Servo motor
Battery
Servo system controller or
previous servo amplifier
CN1B
Next servo amplifier CN1A or
cap
Note 1. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-JE-200B. 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 - 12
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 wire of the built-in regenerative resistor when transporting
the servo amplifier.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
Install the servo amplifier and the servo motor in a load-bearing place in
accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
Use the equipment within the specified environment. For the environment, refer to
section 1.3.
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it
may cause a malfunction.
Do not drop or strike the servo amplifier. Isolate it from all impact loads.
Do not install or operate the servo amplifier which has been damaged or has any
parts missing.
When the product has been stored for an extended period of time, contact your
local sales office.
When handling the servo amplifier, be careful about the edged parts such as
corners of the servo amplifier.
The servo amplifier must be installed in a metal cabinet.
When fumigants that contain halogen materials, such as fluorine, chlorine,
bromine, and iodine, are used for disinfecting and protecting wooden packaging
from insects, they cause malfunction when entering our products. Please take
necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation, such
as heat treatment. Additionally, disinfect and protect wood from insects before
packing the products.
2 - 1
2. INSTALLATION
2.1 Installation direction and clearances
The equipment must be installed in the specified direction. Otherwise, it may
CAUTION
MR-JE-40B to MR-JE-100B have a regenerative resistor on their back face. The regenerative resistor
generates heat of 100 °C higher than the ambient temperature. Please fully consider heat dissipation,
installation position, etc. when installing the servo amplifier.
(1) Installation clearances of the servo amplifier
(a) Installation of one servo amplifier
cause a malfunction.
Leave specified clearances between the servo amplifier and the cabinet walls or
other equipment. Otherwise, it may cause a malfunction.
Cabinet Cabinet
10 mm
or more
40 mm
or more
Servo
amplifier
10 mm
or more
Wiring
allowance
80 mm
or more
Top
40 mm
or more
Bottom
2 - 2
2. INSTALLATION
t
t
(b) Installation of two or more servo amplifiers
POINT
Close mounting is possible depending on the capacity of the servo amplifier.
Refer to section 1.3 for availability of close mounting.
Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a
cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.
When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo
amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within
0 ˚C to 45 ˚C or use the servo amplifier with 75% or lower of the effective load ratio.
Cabine
Cabine
30 mm
or more
100 mm or more
10 mm or more
30 mm
or more
40 mm or more
Leaving clearance Mounting closely
1 mm
100 mm or more
1 mm
40 mm or more
(2) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.2 Keep out foreign materials
30 mm
or more
Top
Bottom
(1) When drilling the cabinet, prevent drill chips and wire fragments from entering the servo amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or
a cooling fan installed on the ceiling.
(3) When installing the cabinet in a place where toxic gas, dirt, and dust exist, conduct an air purge (force
clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to
prevent such materials from entering the cabinet.
2 - 3
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