Instruction/ maintenance manual of the product mr-j3-b Mitsumi electronic
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SH (NA) 030152-A (1411) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo MR-JE-_B SERVO .
A - 1 Safety Instructions Please read the instructions ca refully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the eq uipment until you have read through this Instruction M anual, Inst allation guide, and appended docume nts carefully.
A - 2 1. To prevent electric s hock, note the following. WARNING Before wiring and inspections, turn off the power a nd wait for 15 minutes or more until the ch arge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming w hether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
A - 3 3. To prevent injury, note the following. CAUTION Only the voltage specified in the Instruction Man ual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct termin als. Otherwise, a burst, damage, etc.
A - 4 CAUTION The servo amplifier must be installed in a metal cabin et. When fumigants that contain halogen m aterials, such as fluorine, chlori ne, bromine, and iodin e, are used for disinfecting and protecting wo oden packaging from inse cts, they cause malfunction when entering our products.
A - 5 (3) Test run and adjustment CAUTION Before operation, check the parameter settings. Im proper setting s may cause some machine s to operate unexpectedly. Never adjust or change the parameter values drastically as doing so will make the operation unstable.
A - 6 (6) Maintenance, inspecti on and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplif ier will deteriorate. To prevent a secondary accident due to a malfunction, it is recommend ed th at the electrolytic capacitor be re placed every 10 years when it is used in general environ ment.
A - 7 «Cables used for wiring» Wires mentioned in this Instruction Ma nual are selected based o n the ambient temperature of 40 ˚ C. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if nece ssary according to the following table.
A - 8 MEMO.
1 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-12 1.1 Summa ry ................................................................................................................... ........................ 1- 1 1.2 Function bl ock diagram .........
2 3.8.1 Internal c onnection di agram ............................................................................................. ......... 3-32 3.8.2 Detailed explanati on of inte rfaces .............................................................
3 6.3 Auto tuning ............................................................................................................... ......................... 6- 9 6.3.1 Auto tuning mode ...................................................................
4 11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-48 11.1 Cable/connec tor se ts ..................................................................................................... ............... 11- 1 11.1.1 Combinations of cable/connecto r sets .
5 App. 7 When turning on or off the input pow er supply with DC pow er supply ................................ App.-17 App. 8 When using the hot line forced stop function in combination with MR-J4-_B servo amplif ier ..................................
6 MEMO.
1. FUNCTIONS AND CONFIGURATION 1 - 1 1. FUNCTIONS AND CONFIGURATION 1.1 Summary POINT Refer to section 1.4.2 for compatible controllers. The Mitsubishi general-purpose AC servo MELSERVO-J E series have limited functions with keeping high performance based on MELSERVO-J4 series.
1. FUNCTIONS AND CONFIGURATION 1 - 2 1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-JE-100B or less MC MCCB CN2 CN5 USB USB U U U C L3 L2 L1 U V W U V W P+ .
1. FUNCTIONS AND CONFIGURATION 1 - 3 (2) MR-JE-200B or more MC MCCB L3 L2 L1 U V W U V W B RA B1 B2 M CN2 N- (Note 2) CD P+ + UU U CN5 USB USB CN1A CN1B CN3 CN4 USB Model position Current control Actu.
1. FUNCTIONS AND CONFIGURATION 1 - 4 1.3 Servo amplifier standard specifications Model: MR-JE- 10B 20B 40B 70B 100B 200B 300B Output Rated voltage 3-phase 170 V AC Rated current [A] 1.
1. FUNCTIONS AND CONFIGURATION 1 - 5 1.4 Combinations of servo amplif iers, 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.
1. FUNCTIONS AND CONFIGURATION 1 - 6 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.
1. FUNCTIONS AND CONFIGURATION 1 - 7 Function Description Detailed explanation Drive recorder function This function continuously moni tors the servo status and records the status transition before and after an alarm for a fixed period of time.
1. FUNCTIONS AND CONFIGURATION 1 - 8 1.6 Model designation (1) Rating plate The following shows an example of the ra ting plate for explanation of each item. Serial number TOKYO 100-8310, JAPAN MADE IN JAPAN DATE: 2014-11 MR-JE-10B SER. A4Y001001 AC SERVO POWER INPUT OUTPUT STD.
1. FUNCTIONS AND CONFIGURATION 1 - 9 1.7 Structure 1.7.1 Parts identification (1) MR-JE-100B or less (1) (2) (6) (9) (5) (4) (3) (7) (8) (10) (12) (11) (13) Side No. Name/Application Detailed explanation (1) Display The 3-digit, 7-segment LED s hows the servo status and the alarm number.
1. FUNCTIONS AND CONFIGURATION 1 - 10 (2) MR-JE-200B or more (1) (3) (2) (6) (5) (7) (12) (11) (14) Side (9) (10) (13) (8) (4) No. Name/Application Detailed explanation (1) Display The 3-digit, 7-segment LED s hows the servo status and the alarm number.
1. FUNCTIONS AND CONFIGURATION 1 - 11 1.8 Configuration including peripheral equipment CAUTION 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 amplif ier and servo motor are optional or recommended products.
1. FUNCTIONS AND CONFIGURATION 1 - 12 (2) MR-JE-200B or more The diagram shows MR-JE-200B. Power factor improving AC reactor (FR-HAL) Line noise filter (FR-BSF01) CN5 Personal computer MR Configurator.
2. INSTALLATION 2 - 1 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. CAUTION 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.
2. INSTALLATION 2 - 2 2.1 Installation direction and clearances CAUTION The equipment must be installed in the s pecified direction. Otherwise, it may cause a malfunction. Leave specified clearances between the serv o amplifier and the cabinet walls or other equipment.
2. INSTALLATION 2 - 3 (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo amplifier.
2. INSTALLATION 2 - 4 2.3 Encoder cable stress (1) The way of clamping the cable must be fully ex amined so that bending stress and cable's own weight stress are not applied to the cable connection.
2. INSTALLATION 2 - 5 (3) Precautions for migrating plasticizer added materials Generally, soft polyvinyl chloride (PVC), polyeth ylene resin (PE), and fluorine resin contain non- migrating plasticizer and they do not affect the optical characteristic of the SSCNET III cable.
2. INSTALLATION 2 - 6 (7) Twisting If optical fiber is twisted, it w ill become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases , and the breakage of the optical fiber may occur.
2. INSTALLATION 2 - 7 2.6 Parts having service lives Service lives of the following parts are listed below . However, the service life varies depending on operating methods and environment. If any fault is found in the parts , they must be replaced immediately regardless of their service lives.
2. INSTALLATION 2 - 8 MEMO.
3. SIGNALS AND WIRING 3 - 1 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring s hould be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur.
3. SIGNALS AND WIRING 3 - 2 CAUTION 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.
3. SIGNALS AND WIRING 3 - 3 (1) For 3-phase 200 V AC to 240 V AC power supply of MR-JE-10B to MR-JE-100B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amp lifiers, the hot line forced stop function is disabled at factory setting.
3. SIGNALS AND WIRING 3 - 4 Note 1. MR-JE-40B to MR-JE-100B have a built-in regenerative re sistor. (factory-wired) When using the regenerative option, re fer to section 11.2. 2. For the encoder cable, use of the opt ion cable is recommended. For cable selecti on, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual".
3. SIGNALS AND WIRING 3 - 5 (2) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-10B to MR-JE-100B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amp lifiers, the hot line forced stop function is disabled at factory setting.
3. SIGNALS AND WIRING 3 - 6 Note 1. MR-JE-40B to MR-JE-100B have a built-in regenerative re sistor. (factory-wired) When using the regenerative option, re fer to section 11.2. 2. For the encoder cable, use of the opt ion cable is recommended. For cable selecti on, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual".
3. SIGNALS AND WIRING 3 - 7 (3) For 3-phase 200 V AC to 240 V AC power supply of MR-JE-200B or MR-JE-300B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amp lifiers, the hot line forced stop function is disabled at factory setting.
3. SIGNALS AND WIRING 3 - 8 Note 1. A lways connect between P+ and D terminals. (factor y -wired) When using the regenerative option, refer to section 11.2. 2. For the encoder cable, use of the opt ion cable is recommended. For cable selecti on, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual".
3. SIGNALS AND WIRING 3 - 9 (4) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-200B POINT For MR-JE-_B servo amplifiers, the hot line forced stop function is enabled at factory setting. For MR-J4-_B servo amp lifiers, the hot line forced stop function is disabled at factory setting.
3. SIGNALS AND WIRING 3 - 10 Note 1. A lways connect between P+ and D terminals. (factor y -wired) When using the regenerative option, refer to section 11.2. 2. For the encoder cable, use of the opt ion cable is recommended. For cable selecti on, refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual".
3. SIGNALS AND WIRING 3 - 11 3.2 I/O signal connection example POINT EM2 has the same function as EM1 in the torque control mode. 3.2.1 For sink I/O interface 20 EM2 10 Servo amplifie r CN3 (Note 11) .
3. SIGNALS AND WIRING 3 - 12 3.2.2 For source I/O interface POINT For notes, refer to section 3.2.1. 10 20 EM2 CN3 CN3 13 MBR RA1 DICOM CN5 MR Configurator2 + MR-J3USBCBL3M CN1A CN1B CN1A CN1B CN1B CN.
3. SIGNALS AND WIRING 3 - 13 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of the connector and te rminal block, refer to chapter 9 DIMENSIONS. Symbol Connection destination (application) Description L1/L2/L3 Power supply Supply the following power to L1, L2, and L3.
3. SIGNALS AND WIRING 3 - 14 3.3.2 Power-on sequence POINT The output signal, etc. may be unstable at power-on. (1) Power-on procedure (a) Always use a magnetic contactor for the power supply wiring (L1, L2, and L3) as shown in above section 3.
3. SIGNALS AND WIRING 3 - 15 3.3.3 Wiring CNP1 and CNP2 POINT For the wire sizes used for wi ring, refer to section 11.6. For the wiring to CNP1 and CNP2, use servo amplifie r power connectors packed with the amplifier or optional connectors (refer to section 11.
3. SIGNALS AND WIRING 3 - 16 (2) Cable connection procedure (a) Fabrication on cable insulator Refer to table 3.1 and 3.2 for stripped length of t he cable insulator. The appropriate stripped length of cables depends on their type, etc. Se t the length considering their status.
3. SIGNALS AND WIRING 3 - 17 3.4 Connectors and pin assignment POINT The pin assignment of the connectors is as viewed from the cable connector wiring section. For the CN3 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.
3. SIGNALS AND WIRING 3 - 18 3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division co lumn in the table), refer to section 3.
3. SIGNALS AND WIRING 3 - 19 3.5.2 Output device (1) Output device pin The following shows the output device pi ns and parameters for assigning devices.
3. SIGNALS AND WIRING 3 - 20 Device Symbol Function and application Limiting torque TLC When the torque reaches the torque limit value during torque generation, TLC will turn on. When the servo is off, TLC will be turned off. This device cannot be used in the torque control mode.
3. SIGNALS AND WIRING 3 - 21 3.6 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration cannot be guaranteed. (Refer to chapter 8.) When SSCNET III/H communication brake o ccurs, forced stop deceleration will operate.
3. SIGNALS AND WIRING 3 - 22 (2) Timing chart When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC24 Forced stop deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed] after completion of the deceleration command, base power is cut and the dynamic brake activates.
3. SIGNALS AND WIRING 3 - 23 (2) Adjustment While the servo motor is stopped, turn off EM2 (For ced stop 2), adjust the base circuit shut-off delay time in [Pr. PC02], and set the value to approximately 1.5 times of the smallest delay time in which the servo motor shaft does not freefall.
3. SIGNALS AND WIRING 3 - 24 3.7 Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. POINT In the torque control mode, the forc ed stop deceleration function cannot be used.
3. SIGNALS AND WIRING 3 - 25 (2) When the forced stop deceleration function is not enabled MBR (Electromagnetic brake interlock) ON OFF ON (no alarm) OFF (alarm) Base circuit (Energy supply to the servo motor) ON OFF Servo amplifier display 0 r/min Servo motor speed ALM (Malfunction) No alarm Alarm No.
3. SIGNALS AND WIRING 3 - 26 3.7.3 Hot line forced stop function POINT When the power supply of the servo amplifie r is shut off during deceleration to a stop by a hot line forced stop signal, t he servo motor will be stopped with the dynamic brake.
3. SIGNALS AND WIRING 3 - 27 (d) When the power supply of a servo amplifier in which an alarm occurred is shut off, subsequent servo amplifiers will decelerate to a stop, and the cont roller will be in a non-connection state. "AA" will be shown on the display of the servo amplifier.
3. SIGNALS AND WIRING 3 - 28 2) If an alarm that stops the servo motor with t he dynamic brake occurs in the second axis servo amplifier, and then the power supply is off To clear [AL. E7.1 Controller forced stop warning], give the error reset command from the controller.
3. SIGNALS AND WIRING 3 - 29 3) When the power of the second ax is servo amplifier is turned off No alarm 0 r/min 0 r/min 0 r/min Input power supply Servo amplifier display The first axis servo amplif.
3. SIGNALS AND WIRING 3 - 30 4) When power supplies of all servo amplifiers are turned off 0 r/min Hot line alarm signal (from the servo amplifier whose power is turned off) Hot line forced stop signa.
3. SIGNALS AND WIRING 3 - 31 2) If an alarm that stops the servo motor with t he dynamic brake occurs in the second axis servo amplifier, and then the power supply is off No alarm 0 r/min 0 r/min 0 r/.
3. SIGNALS AND WIRING 3 - 32 3.8 Interfaces 3.8.1 Internal connection diagram Approximately 6.2 k Ω Encoder 3 2 4 7 8 MR MRR MD MDR LG PE Servo motor M CN2 EM2 CN3 20 10 CN3 3 13 DOCOM Servo amplifier (Note 1) USB D+ GND D- 2 3 5 CN5 MBR DICOM Forced stop 2 (Note 1) RA (Note 2) 24 V DC (Note 2) 24 V DC Isolated Note 1.
3. SIGNALS AND WIRING 3 - 33 3.8.2 Detailed explanation of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and ma ke connection with the external device.
3. SIGNALS AND WIRING 3 - 34 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit in which the anode of the phot ocoupler is the input terminal. Transmit signals from source (open-collector) type transis tor output, relay switch, etc.
3. SIGNALS AND WIRING 3 - 35 3.9 SSCNET III cable connection POINT Do not look directly at the light gener ated from the CN1A/CN1B connector of the servo amplifier or the end of the SSCNET III cable. The light can be a discomfort when it enters the eye.
3. SIGNALS AND WIRING 3 - 36 (a) Connection 1) For an SSCNET III cable in the shipping status, t he tube for protecting the optical cord end is put on the end of connector. Remove this tube. 2) Remove the CN1A and CN1B connector caps of the servo amplifier.
3. SIGNALS AND WIRING 3 - 37 3.10 Servo motor with an electromagnetic brake 3.10.1 Safety precautions CAUTION Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
3. SIGNALS AND WIRING 3 - 38 (2) Setting In [Pr. PC02 Electromagnetic brak e sequence output], set a delay time (Tb) from MBR (Electromagnetic brake interlock) off to base circuit shut-off at a se rvo-off as in the timing chart in section 3.10.2. 3.10.
3. SIGNALS AND WIRING 3 - 39 (b) Off/on of the forced stop command (fro m controller) or EM2 (Forced stop 2) POINT In the torque control mode, the forc ed stop deceleration function cannot be used.
3. SIGNALS AND WIRING 3 - 40 (e) Ready-off command from controller Electromagnetic brake MBR (Electromagnetic brake interlock) Base circuit Servo motor speed Ready-on command (from controller) (Note) ON OFF ON OFF ON OFF Approx. 10 ms 0 r/min Dynamic brake Dynamic brake + Electromagnetic brake Operation delay time of the electromagnetic brake Note.
3. SIGNALS AND WIRING 3 - 41 3.11 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, always c onnect the protective earth (PE) terminal (marked with ) of the servo amplifier to the prot ective earth (PE) of the cabinet.
3. SIGNALS AND WIRING 3 - 42 MEMO.
4. STARTUP 4 - 1 4. STARTUP WARNING Do not operate the switches with wet hands . Otherwise, it may cause an electric shock. CAUTION Before starting operation, check the par ameters. Improper settings may cause some machines to operate unexpectedly. The servo amplifier heat sink, regenerative resistor, servo motor, etc.
4. STARTUP 4 - 2 4.1.2 Wiring check (1) Power supply system wiring Before switching on the power supply, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1, L2, and L3) of the servo amplifier should satisfy the defined specifications.
4. STARTUP 4 - 3 (2) I/O signal wiring (a) The I/O signals should be connected correctly. Use the DO forced output to forcibly turn on or off the pins of the CN3 connector. This function can be used to check the wiring. At this time, check the wiring in the servo-off status.
4. STARTUP 4 - 4 4.2 Startup Connect the servo motor with a machine after confir ming that the servo moto r operates properly alone. (1) Power on When the power supply is turned on, "b01" (for the first axis) appears on the servo amplifier display.
4. STARTUP 4 - 5 (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop.
4. STARTUP 4 - 6 The control axis No. can be set in the range of 1 to 16 with the axis selection rotary switch.a t If the same numbers are set to different control axes in a single communication sy stem, the system will not operate properly. The control axes may be set independently of the SSCNET III cable connection sequence.
4. STARTUP 4 - 7 4.3.2 Scrolling display (1) Normal display When there is no alarm, the axis No. and blank are displayed in rotation. Status (1 digit) Axis No. (2 digits) "b" "C" "d" : Indicates ready-off and servo-off status.
4. STARTUP 4 - 8 4.3.3 Status display of an axis (1) Display sequence The segment of the last 2 digits shows the axis number. Servo system controller power on (SSCNET III/H communication begins) Ready-on Servo-on Ordinary operation Servo system controller power off Servo system controller power on When alarm occurs, i ts alarm code appears.
4. STARTUP 4 - 9 (2) Indication list POINT Refer to section 1.6 of "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for troubl eshooting at startup.
4. STARTUP 4 - 10 4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2 for how to power on and off the servo amplifier. POINT If necessary, verify controller programs by using motor-less operation.
4. STARTUP 4 - 11 4.5.1 Test operation mode in MR Configurator2 POINT When "_ _ 1 _" is set in [Pr. PC05] to enable the test operation mode, the SSCNET III/H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked.
4. STARTUP 4 - 12 (b) Positioning operation Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.
4. STARTUP 4 - 13 (2) Operation procedure 1) Set "_ _ 1 _" in [Pr. PC05] and cycle the power. When initialization is completed, the decim al point on the first digit will flicker. After 1.6 s After 0.2 s Flickering When an alarm or warning also occurs during the test operation, the decimal point on the first digit will flicker as follows.
4. STARTUP 4 - 14 (b) Alarms The following alarms and warnings do not occur. Ho wever, the other alarms and warnings occur as when the servo motor is connected. Alarm and warning [AL. 16 Encoder initial communication error 1] [AL. 1E Encoder initial communication error 2] [AL.
5. PARAMETERS 5 - 1 5. PARAMETERS CAUTION Never adjust or change the parameter values drastically as doing so will make the operation unstable. If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
5. PARAMETERS 5 - 2 5.1.1 Basic setting parameters ([Pr. PA_ _ ]) No. Symbol Name Initial value Unit PA01 For manufacturer setting 1000h PA02 **REG Regenerative option 0000h PA03 *ABS Absolute positio.
5. PARAMETERS 5 - 3 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) No. Symbol Name Initial value Unit PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h PB02 VRFT Vibration suppression con.
5. PARAMETERS 5 - 4 No. Symbol Name Initial value Unit PB46 NH3 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h PB48 NH4 Machine resonance suppression filter 4.
5. PARAMETERS 5 - 5 No. Symbol Name Initial value Unit PC21 *BPS Alarm history clear 0000h PC22 For manufacturer setting 0 PC23 0000h PC24 RSBR Forced stop decelerat ion time constant 100 [ms] PC25 Fo.
5. PARAMETERS 5 - 6 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) No. Symbol Name Initial value Unit PD01 For manufacturer setting 0000h PD02 0000h PD03 0000h PD04 0000h PD05 0000h PD06 0000h PD07 *DO1 .
5. PARAMETERS 5 - 7 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) No. Symbol Name Initial value Unit PE01 For manufacturer setting 0000h PE02 0000h PE03 0000h PE04 0 PE05 0 PE06 0 PE07 0 PE08 0 .
5. PARAMETERS 5 - 8 No. Symbol Name Initial value Unit PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0.00 PE62 0.00 PE63 0.00 PE64 0.00 5.1.6 Extension setting 3 parameters ([Pr.
5. PARAMETERS 5 - 9 No. Symbol Name Initial value Unit PF31 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min] PF32 For manufacturer setting 50 PF33 0000h PF34 0000h PF35 0000h PF36 .
5. PARAMETERS 5 - 10 5.2 Detailed list of parameters POINT Set a value in each "x" in the "Setting digit" columns. 5.2.1 Basic setting parameters ([Pr. PA_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PA02 **REG Regenerative option Select a regenerative option.
5. PARAMETERS 5 - 11 No. Symbol Name and function Initial value [unit] Setting range PA04 *AOP1 Function selection A-1 Select the forced stop input and fo rced stop deceleration function.
5. PARAMETERS 5 - 12 No. Symbol Name and function Initial value [unit] Setting range PA08 ATU Auto tuning mode Select the gain adjustment mode. Refer to the "Name and function" column.
5. PARAMETERS 5 - 13 No. Symbol Name and function Initial value [unit] Setting range PA09 RSP Auto tuning response Set the auto tuning response. 16 1 to 40 Setting value Machine characteristic Setting.
5. PARAMETERS 5 - 14 No. Symbol Name and function Initial value [unit] Setting range PA19 *BLK Parameter w riting inhibit Select a reference range and writing range of parameters. Refer to table 5.3 for settings. 00AAh Refer to the "Name and function" column.
5. PARAMETERS 5 - 15 No. Symbol Name and function Initial value [unit] Setting range PA20 *TDS Tough drive setting Alarms may not be avoided with the tough driv e function depending on the situations of the power supply and load fluctuation. You can assign MTTR (During tough drive) to the CN3-13 pin with [Pr.
5. PARAMETERS 5 - 16 No. Symbol Name and function Initial value [unit] Setting range PA23 DRAT Drive recorder arbi trary alarm trigger setting Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ x x Alarm detail No.
5. PARAMETERS 5 - 17 No. Symbol Name and function Initial value [unit] Setting range PA25 OTHOV One-touch tuning - Overshoot permissible level Set a permissible value of the overshoot amount for one-touch tuning as a percentage of the in-position range.
5. PARAMETERS 5 - 18 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PB01 FILT Adaptive tuning mode (adaptive filter II) Set the adaptive filter tuning. Refer to the "Name and function" column.
5. PARAMETERS 5 - 19 No. Symbol Name and function Initial value [unit] Setting range PB06 GD2 Load to motor inertia ratio Set the load to motor inertia ratio. The setting of this parameter will be the aut omatic setting or manual setting depending on the value set in [Pr.
5. PARAMETERS 5 - 20 No. Symbol Name and function Initial value [unit] Setting range PB11 VDC Speed differential compensation Set the differential compensation. To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching control selection" in [Pr.
5. PARAMETERS 5 - 21 No. Symbol Name and function Initial value [unit] Setting range PB17 NHF Shaft resonance suppression filter Set the shaft resonance suppression filter.
5. PARAMETERS 5 - 22 No. Symbol Name and function Initial value [Unit] Setting range PB19 VRF11 Vibration suppression control 1 - Vibration frequency Set the vibration frequency for the vibration suppression control 1 to suppress low-frequency machine vibration.
5. PARAMETERS 5 - 23 No. Symbol Name and function Initial value [Unit] Setting range PB24 *MVS Slight vibration suppression control Select the slight vibration suppression control and PI-PID switching control. Refer to the "Name and function" column.
5. PARAMETERS 5 - 24 No. Symbol Name and function Initial value [Unit] Setting range PB26 *CDP Gain switching function Select the gain switching condition. Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
5. PARAMETERS 5 - 25 No. Symbol Name and function Initial value [Unit] Setting range PB32 VICB Speed integral compensation after gain switching Set the speed integral compensation fo r when the gain switching is enabled. When you set a value smaller than 0.
5. PARAMETERS 5 - 26 No. Symbol Name and function Initial value [Unit] Setting range PB45 CNHF Command notch filter Set the command notch filter. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ x x Command notch filter setting frequency selection Refer to table 5.
5. PARAMETERS 5 - 27 No. Symbol Name and function Initial value [unit] Setting range PB46 NH3 Machine resonance suppression filter 3 Set the notch frequency of the machine resonance suppression filter 3. To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection" in [Pr.
5. PARAMETERS 5 - 28 No. Symbol Name and function Initial value [unit] Setting range PB51 NHQ5 Notch shape selection 5 Set forms of the machine resonance suppression filter 5. When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr.
5. PARAMETERS 5 - 29 No. Symbol Name and function Initial value [unit] Setting range PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching Set the vibration frequency for the vibration s uppression control 2 for when the gain switching is enabled.
5. PARAMETERS 5 - 30 5.2.3 Extension setting parameters ([Pr. PC_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PC01 ERZ Error excessive alarm level Set an error excessive alarm level. Set the level in rev unit. Setting "0" will apply 3 rev.
5. PARAMETERS 5 - 31 No. Symbol Name and function Initial value [unit] Setting range PC07 ZSP Zero speed Set an output range of ZSP (Zero speed detection). ZSP (Zero speed detection) has hysteresis of 20 r/min. 50 [r/min] 0 to 10000 PC08 OSL Overspeed alarm detection level Set an overspeed alarm detection level.
5. PARAMETERS 5 - 32 No. Symbol Name and function Initial value [unit] Setting range PC24 RSBR Forced stop deceleration time constant Set a deceleration time constant for the forced stop deceleration function. Set the time taken from the rated speed to 0 r/min in ms unit.
5. PARAMETERS 5 - 33 No. Symbol Name and function Initial value [unit] Setting range PC38 ERW Error excessive warning level Set an error excessive warning level. To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive warning] selection" in [Pr.
5. PARAMETERS 5 - 34 No. Symbol Name and function Initial value [unit] Setting range PD11 *DIF Input filter setting Select the input filter. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Input signal filter selection Refer to the servo system controller instruction manual for the setting.
5. PARAMETERS 5 - 35 No. Symbol Name and function Initial value [unit] Setting range PD14 *DOP3 Function selection D-3 Refer to the "Name and function" column.
5. PARAMETERS 5 - 36 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PE41 EOP3 Function selection E-3 Refer to the "Name and function" column.
5. PARAMETERS 5 - 37 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PF06 *FOP5 Function selection F-5 Refer to the "Name and function" column.
5. PARAMETERS 5 - 38 No. Symbol Name and function Initial value [unit] Setting range PF25 CVAT Instantaneous power failure tough drive - Detection time Set the time until the occurrence of [AL.
6. NORMAL GAIN ADJUSTMENT 6 - 1 6. NORMAL GAIN ADJUSTMENT POINT In the torque control mode, you do not need to make gain adjustment. Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly.
6. NORMAL GAIN ADJUSTMENT 6 - 2 (2) Adjustment sequence and mode usage 2 gain adjustment mode 1 (interpolation mode) Interpolation made for 2 or more axes? The l oad fluc tuati on is large during driv.
6. NORMAL GAIN ADJUSTMENT 6 - 3 6.2 One-touch tuning POINT When executing the one-touch tuning, c heck the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value). After connecting MR Configurator2 and opening the one-touch tuning window, you can use the function.
6. NORMAL GAIN ADJUSTMENT 6 - 4 6.2.1 One-touch tuning flowchart Make one-touch tuning as follows. Start Startup of the system Operation One-touch tuning start Response mode selection One-touch tuning execution End Start a system referring to chapter 4.
6. NORMAL GAIN ADJUSTMENT 6 - 5 6.2.2 Display transition and operat ion procedure of one-touch tuning (1) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for a high rigid system.
6. NORMAL GAIN ADJUSTMENT 6 - 6 (2) One-touch tuning execution POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing t he value of [Pr. PA25 One-touch tuning - Overshoot permissible level] will shor ten the settling time and improve the response.
6. NORMAL GAIN ADJUSTMENT 6 - 7 (3) Stop of one-touch tuning During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" w ill be displayed at status in an error code. (4) If an error occurs If a tuning error occurs during one-touch tuning, the tuning will be forcibly terminated.
6. NORMAL GAIN ADJUSTMENT 6 - 8 (7) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 6.1 for the parameters which you can clear.
6. NORMAL GAIN ADJUSTMENT 6 - 9 6.3 Auto tuning 6.3.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates t he machine characteristic (load to motor inertia ratio) in real time and automatically se ts the optimum gains according to that value.
6. NORMAL GAIN ADJUSTMENT 6 - 10 6.3.2 Auto tuning mode basis The block diagram of real-time auto tuning is shown below. Loop gain PG1 , PG 2, VG2, VIC Current control Load to motor inertia ratio estimation section Gain table [Pr. PB06 Load to motor inertia ratio] Response level setting Gain adjustment mode selection [Pr.
6. NORMAL GAIN ADJUSTMENT 6 - 11 6.3.3 Adjustment procedure by auto tuning Since auto tuning is enabled before shipment from the fa ctory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
6. NORMAL GAIN ADJUSTMENT 6 - 12 6.3.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. PA09]. As the res ponse level setting is increased, the track ability and settling time for a command decreases, but too high a response level will generate vibration.
6. NORMAL GAIN ADJUSTMENT 6 - 13 6.4 Manual mode If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuni ng mode selection in [Pr. PB01] or machine resonance suppression filter in [P r.
6. NORMAL GAIN ADJUSTMENT 6 - 14 (c) Parameter adjustment 1) [Pr. PB09 Speed loop gain] This parameter determines the response level of the speed control loop. Increasing the setting increases the response level, but the mechanical sy stem is liable to vibrate.
6. NORMAL GAIN ADJUSTMENT 6 - 15 (b) Adjustment procedure Step Operation Description 1 Adjust gains briefly with auto tuning. Refer to section 6.3.3. 2 Change the setting of auto tuning to the manual mode ([Pr. PA08]: _ _ _ 3). 3 Set an estimated value to the load to motor inertia ratio.
6. NORMAL GAIN ADJUSTMENT 6 - 16 3) [Pr. PB08 Position loop gain] This parameter determines the response level to a disturbance to the position control loop. Increasing the position loop gain increases t he response level to a disturbance, but the mechanical system is liable to vibrate.
6. NORMAL GAIN ADJUSTMENT 6 - 17 (2) 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adj ustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not es timated in this mode, set the value of a proper load to motor inertia ratio in [Pr.
6. NORMAL GAIN ADJUSTMENT 6 - 18 (4) Parameter adjustment [Pr. PB07 Model loop gain] This parameter determines the response level of the position control loop. Increasing the value improves track ability to a position command, but too high a val ue will make overshoot liable to occur at settling.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used normally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6. 7.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 2 (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppre ss the resonance of the mechanica l system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth, and width.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 3 (2) Parameter (a) Machine resonance suppression filt er 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth, and notch widt h of the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 4 7.1.2 Adaptive filter II POINT The machine resonance frequency which adapt ive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 5 (2) Parameter Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)]. [Pr. PB01] Filter tuning mode selection 000 0 1 2 Setti.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 6 7.1.3 Shaft resonance suppression filter POINT This filter is set properly by default according to the servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression filter selection" in [Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 7 7.1.4 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as the initial value.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 8 (1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjus ted for positioning so that the machine does not vibrate.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 9 (3) Vibration suppression control tuning procedure The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PB02] to execut e the vibration suppression control tuning.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 10 (4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibrat ion frequency does not provide an effect.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 11 (a) When a vibration peak can be confirmed with t he machine analyzer using MR Configurator2, or external measuring instrument. 1 Hz Gain characteristics Phase -90 degrees 300 Hz Vibr ation su ppr essi on contr ol 1 - Vib rat ion fr equenc y (anti-resonance frequency) [Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 12 (1) Function Command notch filter has a function that lowers the gain of the specified frequency contained in a position command. By lowering the gain, load-side vi bration, such as work-side vibration and base shake, can be suppressed.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 13 7.2 Gain switching function You can switch gains with the function. You can switch gains during rotation and during stop, and can use a control command from a controller to switch gains during operation. 7.2.1 Applications The following shows when you use the function.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 14 7.2.2 Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Ga in switching function] and [Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 15 7.2.3 Parameter When using the gain switching function, always sele ct "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gai n switching function cannot be used in the auto tuning mode.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 16 (2) Switchable gain parameter Loop gain Before switching After switching Parameter Symbol Name Parameter Symbol Name Load to motor inertia ratio PB06 GD2 Load to.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 17 (a) [Pr. PB06] to [Pr. PB10] These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio, position loop gain, speed loop gain, and speed integral compensation to be switched.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 18 7.2.4 Gain switching procedure This operation will be described by way of setting examples. (1) When you choose switching by a control command from the controller (a) Setting example Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio 4.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 19 (b) Switching timing chart After-switching gain 63.4% CDT = 100 ms Before-switching gain Gain switching Control command from controller OFF ON OFF Model loop gain 100 → 50 → 100 Load to motor inertia ratio 4.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 20 (b) Switching timing chart After-switching gain 63.4% CDT = 100 ms Before-switching gain Gain switching Droop pulses [pulse] +CDL -CDL 0 Command pulses Droop pulses Command pulses Load to motor inertia ratio 4.00 → 10.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 21 (b) Gain return time constant disabled was selected. The gain switching time constant is enabled with this setting. The time constant is disabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 22 7.3 Tough drive function POINT Enable or disable the tough drive functi on with [Pr. PA20 Tough drive setting]. (Refer to section 5.2.1.) This function makes the equipment continue operating even under the condition that an alarm occurs.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 23 The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and co mpares it with [Pr. PB13] and [Pr. PB15], and resets a machine resonance frequency of a parameter whose set value is closer.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 24 7.3.2 Instantaneous power failure tough drive function The instantaneous power failure tough drive func tion avoids [AL.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 25 (2) Instantaneous power failure time < [Pr. PF25 Instantaneous power failure tough drive - Detection time] Operation status differs dependi ng on how bus voltage decreases. (a) When the bus voltage decreases to 200 V DC or lo wer within the instantaneous power failure time [AL.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 26 7.4 Model adaptive control disabled POINT Change the parameters while the servo motor stops. When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operat ion status of the servo motor.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 27 7.5 Lost motion compensation function POINT The lost motion compensation function is enabled only in the position control mode.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 28 (d) Lost motion compensation timing ([Pr. PE49]) You can set the delay time of the lost motion co mpensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 29 (d) Adjusting the lost motion compensation When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the pr otrusions are eliminated. When not ches occur, the compensation is excessive.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 30 MEMO.
8. TROUBLESHOOTING 8 - 1 8. TROUBLESHOOTING POINT Refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. As soon as an alarm occurs, make the Se rvo-off status and interrupt the power.
8. TROUBLESHOOTING 8 - 2 8.2 Alarm list No. Name Detail number Detail name Stop method (Note 2, 3) Alarm deactivation Alarm reset CPU reset Power cycling Alarm 10 Undervoltage 10.1 Voltage drop in the power EDB 10.2 Bus voltage drop SD 12.1 RAM error 1 DB 12.
8. TROUBLESHOOTING 8 - 3 No. Name Detail number Detail name Stop method (Note 2, 3) Alarm deactivation Alarm reset CPU reset Power cycling Alarm 20.1 Encoder normal communication - Receive data error 1 EDB 20.2 Encoder normal communication - Receive data error 2 EDB 20.
8. TROUBLESHOOTING 8 - 4 No. Name Detail number Detail name Stop method (Note 2, 3) Alarm deactivation Alarm reset CPU reset Power cycling Alarm 46.1 Abnormal temperature of servo motor 1 SD (Note 1) (Note 1) (Note 1) 46 Servo motor overheat 46.5 Abnormal temperature of servo motor 3 DB (Note 1) (Note 1) (Note 1) 46.
8. TROUBLESHOOTING 8 - 5 8.3 Warning list No. Name Detail number Detail name Stop method (Note 2, 3) Warning 91 Servo amplifier overheat warning (Note 1) 91.1 Main circuit device overheat warning 92 Battery cable disconnection warning 92.1 Encoder battery cable disconnection warning 92.
8. TROUBLESHOOTING 8 - 6 Note 1. Leave the servo amplifier for about 30 minut es of cooling time after removing the cause of occurrence. 2. The following shows two stop methods of DB and SD. DB: Dynamic brake stop (A servo motor without the dynamic brake coasts.
9. DIMENSIONS 9 - 1 9. DIMENSIONS 9.1 Servo amplifier (1) MR-JE-10B to MR-JE-40B [Unit: mm] 135 50 168 6 6 156 6 6 φ 6 mounting hole 6 PE CNP1 With MR-BAT6V1SET- A Approx. 80 The built-in regenerative resistor (lead wire) is mounted only in MR-JE-40B.
9. DIMENSIONS 9 - 2 (2) MR-JE-70B and MR-JE-100B [Unit: mm] 70 3.3 168 42 22 22 156 6 6 φ 6 mounting hole 6 PE CNP1 With MR-BAT6V1SET-A 185 Approx. 80 Mass: 1.5 [kg] L2 L3 P+ C U V W L1 PE Terminal CNP1 Screw size: M4 Tightening torque: 1.2 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.
9. DIMENSIONS 9 - 3 (3) MR-JE-200B and MR-JE-300B [Unit: mm] 6 6 6 78 168 6 156 45 90 85 161 φ 6 mounting hole Approx. 80 195 Cooling fan air intake Exhaust 6 With MR-BAT6V1SET-A CNP1 CNP2 Lock knob Mass: 2.1 [kg] L2 L3 N- C D P+ U V W L1 CNP2 Terminal CNP1 Screw size: M4 Tightening torque: 1.
9. DIMENSIONS 9 - 4 9.2 Connector (1) CN1A/CN1B connector [Unit: mm] F0-PF2D103 20.9 ± 0.2 17.6 ± 0.2 8 2.3 1.7 4.8 13.4 15 6.7 9.3 F0-CF2D103-S 8 2.3 1.7 4.8 13.4 15 6.7 9.3 20.9 ± 0.2 17.6 ± 0.2 (2) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 [Unit: mm] 34.
10. CHARACTERISTICS 10 - 1 10. CHARACTERISTICS 10.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads.
10. CHARACTERISTICS 10 - 2 1000 100 10 1 0.1 100 200 300 0 50 150 250 320 Servo-lock Operating (Note) Load ratio [%] Operation time [s] HG-SN152_/HG-SN202_/ HG-SN302_ Note.
10. CHARACTERISTICS 10 - 3 10.2 Power supply capacity and generated loss (1) Servo amplifier generated heat Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the va lues in the table in consideration for the worst operating conditions.
10. CHARACTERISTICS 10 - 4 (2) Heat dissipation area for an enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet ) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 ˚ C at the ambient temperature of 40 ˚ C.
10. CHARACTERISTICS 10 - 5 10.3 Dynamic brake characteristics POINT Do not use dynamic brake for stop in a nor mal operation as it is the function for stop in emergency.
10. CHARACTERISTICS 10 - 6 (2) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 10.2. 0 20 25 15 10 5 30 35 40 0 1000 2000 3000 4000 5000 73 13 43 .
10. CHARACTERISTICS 10 - 7 10.4 Cable bending life The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
10. CHARACTERISTICS 10 - 8 MEMO.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 1 11. OPTIONS AND PERIPHERAL EQUIPMENT WARNING Before connecting options and peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 2 11.1.1 Combinations of cable/connector sets Refer to "HG-KN_/HG-SN_ Servo Motor Instruction Manual" for options for servo motor power supply, electromagnetic brake, and encoder.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 3 No. Product name Model Description Application 1) Servo amplifier CNP1 power connector MR-JECNP1-01 Connector fo r CNP1: 09JFAT-SAXGDK- H5.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 4 No. Product name Model Description Application 8) Battery cable MR-BT6V1CBL_M Cable length: 0.3 m or 1 m (Refer to section 11.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 5 11.1.2 SSCNET III cable POINT Do not look directly at the light generated from the CN1A connector and CN1B connector of servo amplifier or the end of SSCNET III cable. The light can be a discomfort when it enters the eye.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 6 (3) Dimensions (a) MR-J3BUS015M [Unit: mm] 150 Approx. 6.7 8 +0 +50 - 0 Protective tube Approx. 15 Approx. 13.4 Approx. 20.9 Appro x. 2.3 Appro x. 1.7 Approx. 37.65 (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) of this section for cable length (L).
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 7 11.1.3 Battery cable and junction battery cable (1) Model explanations The numbers in the cable length field of the table indi cate the symbol filling the underline "_" in the cable model. The cables of the lengths with the numbers are available.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 8 11.2 Regenerative option CAUTION Do not use servo amplifiers with regenerat ive options other than the combinations specified below. Otherwise, it may cause a fire. 11.2.1 Combination and regenerative power The power values in the table are resi stor-generated powers and not rated powers.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 9 11.2.2 Selection of regenerative option Use the following method when regeneration occurs continuous ly in vertical motion app lications or when it is desired to make an in-depth select ion of the regenerative option.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 10 (2) Losses of servo motor and serv o amplifier in regenerative mode The following table lists the efficiencies and other dat a of the servo motor and servo amplifier in the regenerative mode.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 11 11.2.4 Connection of regenerative option POINT When you use a regenerative option wi th an MR-JE-40B to MR-JE-100B, remove the built-in regenerative resistor and wiring from the servo amplifier. When MR-RB50 is used, a cooling fan is required to cool it.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 12 (1) MR-JE-100B or less When you use a regenerative option for MR-JE-40B to MR-JE-100B, remove wirings of P+ and C, remove the built-in regenerative resistor, and t hen connect the regenerative option between P+ and C.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 13 To remove the built-in regenerative resistor mounted on the back of MR-JE-40B to MR-JE-100B, refer to the following illustration and follow the procedures 1) to 3). 1) Disconnect the wirings of the built-in regenerative resistor from the power connector (CNP1).
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 14 (2) MR-JE-200B or more Always remove the wiring from across P+ to D and mount the regenerative option across P+ to C. G3 and G4 are terminals for the thermal sensor . Between G3 and G4 is opened when the regenerative option overheats abnormally.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 15 11.2.5 Dimensions (1) MR-RB12 [Unit: mm] 5 144 Approx. 20 169 168 156 6 12 6 36 40 φ 6 mounting hole T E1 15 Approx. 6 149 2 TE1 terminal block G3 G4 P C Applicable wire size: 0.2 mm 2 to 2.5 mm 2 (AWG 24 to 12) Tightening torque: 0.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 16 (3) MR-RB50 [Unit: mm] 2.3 133 82.5 49 82.5 Cooling fan mounting screw (2-M3 screw) On opposite side 200 17 217 8 120 108 12 12.5 162.5 350 162.5 12.5 7 Approx. 30 7 × 14 slotted hole Air intake Terminal block P C G3 G4 Terminal screw size: M4 Tightening torque: 1.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 17 11.3 Junction terminal block PS7DW-20V14B-F (recommended) (1) Usage Always use the junction terminal block (PS7DW-20V 14B-F (Yoshida Electric Industry)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 18 (3) Dimensions of junction terminal block [Unit: mm] M3 × 6L M3 × 5L 36.5 27.8 18.8 7.62 44.11 54 63 φ 4.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 19 11.4.2 System requirements (1) Component To use MR Configurator2 (SW1DNC-MRC2-E), the following components are required in addition to the servo amplifier and servo motor. Equipment Description (Note 1, 2, 3, 4, and 5) Personal computer OS Microsoft ® Windows ® 8.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 20 (2) Connection with servo amplifier To USB connector Servo amplifier USB cable MR-J3USBCBL3M (Option) Personal computer 11.4.3 Precautions for using USB communication function Note the following to prevent an electric s hock and malfunction of the servo amplifier.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 21 11.5 Battery POINT Refer to appendix 2 and 3 for battery transportation and the new EU Battery Directive. The battery is used to construct an absolute position detection system. For construction of an absolute position detection system, refer to chapter 12.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 22 11.5.2 MR-BAT6V1SET-A battery POINT For the specifications and the year and m onth of manufacture of the built-in MR- BAT6V1 battery, refer to section 11.5.4. (1) Parts identification and dimensions [Unit: mm] 27.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 23 (3) Battery replacement procedure WARNING Before replacing a battery, turn off the power and wait for 15 minutes or more until the charge lamp turns off.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 24 (b) Removal procedure CAUTION Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery. Pull the lock release lever to push up the battery.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 25 (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET-A reaches the end of its lif e, replace the MR-BAT6V1 battery in the MR- BAT6V1SET-A. Tab Cover Hold the tab and open the cover. Replace the battery with a new MR-BAT6V1 battery.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 26 11.5.3 MR-BT6VCASE battery case POINT The battery unit consists of an MR -BT6VCASE battery case and five MR- BAT6V1 batteries. For the specifications and the year and month of manufacture of the MR- BAT6V1 battery, refer to section 11.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 27 (3) Battery connection POINT One battery unit can be connected to up to 8-axis servo motors. Servo motors in an incremental system are in cluded as the axis numbers.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 28 (4) Battery replacement procedure WARNING Before replacing a battery, turn off the power and wait for 15 minutes or more until the charge lamp turns off.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 29 (a) Assembly of the battery unit CAUTION Do not mount new and old batteries together. When you change a battery, change all batteries at the same time. POINT Always mount five MR-BAT6V1 batteries to the MR-BT6VCASE battery case.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 30 b) Mounting MR-BAT6V1 BAT1 Securely mount an MR-BAT6V1 to the BAT1 holder. CON1 Click Insert the MR-BAT6V1 connector mounted on the BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 31 c) Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m. POINT When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 32 11.5.4 MR-BAT6V1 battery The MR-BAT6V1 battery is used for a backup of t he MR-BAT6V1SET-A and MR-BAT6V1SET and built in the MR-BT6VCASE.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 33 11.6 Selection example of wires POINT To comply with the IEC/EN/UL/CSA standard, use the wires shown in appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 34 11.7 Molded-case circuit breakers, fuses, magnetic contactors CAUTION Select a molded-case circuit breaker with a fast shut-off time to prevent smoke or a fire. Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 35 11.8 Power factor improving AC reactor The following shows the advantages of using a power factor improving AC reactor. It improves the power factor by increasing the form factor of the servo amplifier's input current.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 36 (2) Dimensions 4-d mounting hole (Varnish i s removed from front right mounting hole (face and back side).
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 37 11.10 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral equi pment to malfunction.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 38 Instrument Receiver Ser vo amplifier Servo motor M 2) 2) 8) 1) 7) 7) 7) 5) 3) 4) 6) 3) Sensor power supply Sensor Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, s ensors, etc.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 39 (2) Noise reduction products (a) Data line filter (recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 40 (c) Cable clamp fitting AERSBAN-_SET Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to a grounding plate as shown below.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 41 (d) Line noise filter (FR-BSF01) This filter is effective in suppressing noises r adiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current).
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 42 (e) Radio noise filter (FR-BIF) This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10 MHz and lower radi o frequency bands. The FR-BIF is designed for the input only.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 43 11.11 Earth-leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse widt h modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 44 Table 11.2 Servo motor leakage current example (lgm) Servo motor power [kW] Leakage current [mA] 0.1 to 1 0.1 1.5 to 2 0.2 3 0.3 Table 11.3 Servo amplifier l eakage current example (Iga) Servo amplifier capacity [kW] Leakage current [mA] 0.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 45 11.12 EMC filter (recommended) It is recommended that one of the following filters be us ed to comply with EN EMC directive. Some EMC filters have large in leakage current. When using an EMC filter, always use one for each servo amplifier.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 46 (c) For 1-phase 200 V AC to 240 V AC power supply of MR-JE-200B MCCB Servo amplifie r 1 2 3 (Note 2) Surge protector (RSPD-250-U4) (OKAY A Electric Industries Co., Ltd.) (Note 1) 1-phase 200 V AC to 240 V AC 123 MC EMC filter L1 L2 L3 4 5 6 E Note 1.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 47 (b) Surge protector RSPD-250-U4 41 ± 1 28.5 ± 1 28 ± 1 φ 4.2 ± 0.5 5.5 ± 1 11 ± 1 +30 0 200 4.5 ± 0.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 48 MEMO.
12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 1 12. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation.
12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 2 12.1.2 Configuration The following shows a configuration of the absolute pos ition detection system. Refe r to section 11.5 for the connection of the battery. Servo system controller Servo amplifier CN1A Servo motor CN2 Battery CN4 12.
12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 3 12.2 Battery 12.2.1 Using the MR-BAT6V1SET-A battery (1) Configuration diagram CYC0 Current position Home position data LS0 Position data LS Detecting the.
12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 4 12.2.2 Using the MR-BT6VCASE battery case POINT One MR-BT6VCASE can hold the absolute pos ition data of up to 8-axis servo motors.
APPENDIX App. - 1 App. 1 Peripheral equipment manufacturer (for reference) Names given in the table are as of November 2014. Manufacturer Contact information NEC TOKIN NEC TOKIN Corporation Kitagawa Industries Kitagawa Industries Co., Ltd. JST J.S.T. Mfg.
APPENDIX App. - 2 (3) Change in regulations The following points are changed for lithium metal batteries transportation by sea or air due to Recommendations of the United Nations Rev.
APPENDIX App. - 3 App. 3 Symbol for the new EU Battery Directive Symbol for the new EU Battery Directive (2006/66/EC) t hat is plastered to general -purpose AC servo battery is explained here. Note. This symbol mark is for EU countries only. This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II.
APPENDIX App. - 4 App. 4.1.3 Correct use Always use the MR-JE servo amplifiers within specifications (voltage, tem perature, etc. Refer to section 1.3 for details.
APPENDIX App. - 5 (b) Selection example of MCCB and fuse Use T class fuses or molded-case circuit breaker (UL489 Listed MCCB) as the following table. The T class fuses and molded-case circuit breakers in t he table are selected examples based on rated I/O of the servo amplifiers.
APPENDIX App. - 6 (2) EU compliance The MR-JE servo amplifiers are designed to comply wi th the following directions to meet requirements for mounting, using, and periodic technical inspections: EMC directive ( 2004/108/EC), and Low-voltage directive (2006/95/EC).
APPENDIX App. - 7 (d) Over-temperature protection for motor Motor Over temperature sensing is not provided by the drive. Integral thermal protection(s) is necessary for motor and refer to appendix.
APPENDIX App. - 8 App. 4.2 Mounting/dismounting Installation direction and clearances CAUTION The devices must be installed in the spec ified direction. Not doing so may cause a malfunction. Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2.
APPENDIX App. - 9 App. 4.3 Electrical Installation and configuration diagram WARNING Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or damages to the product before starting the installation or wiring. CAUTION Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
APPENDIX App. - 10 App. 4.4 Signals App. 4.4.1 Signal The following shows CN1 connector signals of MR-JE-10A as a typical example. 1 3 5 7 9 11 13 15 17 19 21 23 25 2 4 6 8 10 12 14 16 18 20 22 24 TLA.
APPENDIX App. - 11 App. 4.4.2 I/O device The following shows typical I/O devices of MR-JE-_A. For the other devic es, refer to each servo amplifier instruction manual.
APPENDIX App. - 12 App. 4.5 Maintenance and service WARNING To avoid an electric shock, only qualif ied personnel should attempt inspections. For repair and parts replacement, c ontact your local sales office. App. 4.5.1 Inspection items It is recommended that the following points periodically be checked.
APPENDIX App. - 13 App. 4.6 Transportation and storage CAUTION Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. For detailed information on the battery’s transportation and handing refer to app.
APPENDIX App. - 14 App. 4.7.3 Mounting hole d a c b c a1 e Servo amplifier Variable dimensions [mm] Screw size e a a1 b c d MR-JE-10_/MR-JE-20_/MR-JE-40_ 6 6 156 ± 0.5 6 M5 MR-JE-70_/MR-JE-100_ 22 22 156 ± 0.5 6 42 ± 0.3 M5 MR-JE-200_/MR-JE-300_ 6 45 156 ± 0.
APPENDIX App. - 15 App. 5 SSCNET III cable (SC-J3BUS_M-C) manufac tured by Mitsubishi Electric System & Service POINT For the details of the SSCNET III cables, contact your local s ales office. Do not look directly at the light generated from the CN1A connector and CN1B connector of servo amplifier or the end of SSCNET III cable.
APPENDIX App. - 16 App. 6 Low-voltage directive MR-JE series servo amplifiers are certificated in co mpliance with Low-voltage directive. The following shows a certificate by the Certification Body. Refer to section 1.6 (2) for the m odels shown in "(see Appendix 1.
APPENDIX App. - 17 App. 7 When turning on or off the i nput power supply with DC power supply App. 7.1 Connection example For the signals or wiring that are not described in this section, refer to section 3.
APPENDIX App. - 18 App. 8 When using the hot line forced stop function in combination with MR-J4-_B servo amplifier At factory setting, MR-J4-_B servo amplifiers do not decelerate to a stop by the hot line forced stop function if an alarm occurs in an MR-JE-_B servo amplifier.
REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Nov. 2014 SH(NA)030152-A First edition This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corpor ation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in th e United States, Japan, and/or other countries.
Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "P roduct" ari.
SH(NA)030152-A.
SH (NA) 030152-A (1411) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo MR-JE-_B SERVO .
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