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mr-je-_b servo amplifier instruction manual

1. EMC filter Servo amplifier MCCB MC Note 1 X 1 1 4c v L1 1 phase 200 V AC to 240 V AC X 2 1 2 5 L2 3 6 c 9 L3 E 0 Note 2 12 3 Surge protector RSPD 250 U4 Si OKAYA Electric Industries Co Ltd Note 1 Connect the power supply to L1 and L2 Leave L3 open 2 The example is when a surge protector is connected 3 Dimensions a EMC filter HF3010A UN Unit mm 3 M4 4 5 5 x7 3 M4 M4 oq GA ji S 5S S Sq ol x A E S Lug a H SS Ss SE yy Ss E 5 oO T c c D Approx 41 k ERES R 65 4 273 2 gt 288 4 300 5 4 gt HF3030A UN Unit mm 6 R3 25 length 8 1 3 M5 3 M5 R 4 CN x7 CN Si 3832 Of 8 i d Del H S A e V B Y 85 1 85 1 i Pit 210 2 ia 260 5 11 46 11 OPTIONS AND PERIPHERAL EQUIPMENT b Surge protector RSPD 250 U4 4 5 0 5 11 47 Unit mm 11 OPTIONS AND PERIPHERAL EQUIPMENT MEMO 11 48 12 ABSOLUTE POSITION DETECTION SYSTEM 12 ABSOLUTE POSITION DETECTION SYSTEM Qf 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 ZNCAUTI
2. CNP1 Screw size M4 Tightening torque 1 2 N m Approx 80 195 7 ei Exhaust ry i A il a GES E IO EEN WS CNP2 OS a V Ki O3 Lil Ce With MR BAT6V1SET A 0 E e EE A NN UI ET DAR by L DD 2 OUDODOOGO 6 Ft Mass 2 1 kg Mounting screw Screw size M5 Tightening torque 3 24 Nem Approx 90 x o aO Q lt D S ceo Qu RER SZ Q 0 g 3 M5 screw Y B x lt o EA Q lt Approx 6 78 0 3 Approx 6 Mounting hole process drawing 9 DIMENSIONS 9 2 Connector 1 CN1A CN1B connector FO PF2D103 4 8 15 6 7 I zu PA 17 6 0 2 20 9 0 2 2 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm FO CF2D103 S 48 Y A q e A a ss o 17 6 0 2 20 9 0 2 Unit mm 10 CHARACTERISTICS 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 mo
3. E F Isolated x 4 i Servo motor CN5 D 2 USB D 3 GND 5 Note 1 This diagram is for the sink I O interface For source UO interface refer to section 3 8 3 2 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 3 SIGNALS AND WIRING 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 make connection with the external device 1 Digital input interface DI 1 This is an input circuit whose photocoupler cathode side is the input terminal Transmit signals from sink open collector type transistor output relay switch etc The following is a connection diagram for sink input Refer to section 3 8 3 for source input P Switch TR E Vces lt 1 0 V 24 V DC x 10 lceo lt 100 pA 100 mA For transistor Servo amplifier Approximately 5 mA EM2 Approximately 6 2 kQ DICOM S Digital output interface DO 1 This is a circuit in which the collector of the output transistor is the output terminal When the output transistor is turned on the current will flow from the collector terminal A lamp relay or photocoupler can be driven Install a diode D for an in
4. circuit power Cooling fan RA P Electro 24V DC B magnetic i O brake l B2 l l AA v Y Y i i Base Voltage Overcurrent Current amplifier detection protection detection Encoder input Model Model position speed control control Actual Actual position speed conen control control coniro I F Control Servo system controller or servo amplifier amplifier or cap Digital UO control USB Battery for absolute position detection system Personal computer 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 FUNCTIONS AND CONFIGURATION 1 3 Servo amplifier standard specifications sem P Ratedouren DI a1 75 28 sa 9 mo mo 3 phase 3 phase or 1 phase 200 200 V AC V AC to 240 V AC 50 to 240 V Hz 60 Hz Note 5 AC 50 Hz 60 Hz Noe m pen s os is se P so ms me 3 phase 170 V AC to 2 V 3 phase or 1 phase 200 V AC
5. Em O Table 3 2 Connector and applicable wire Applicable wire i Connector Receptacle assembly r xn Stripped Open tool Mend CNP1 07JFAT SAXGFK XL AWG 16 to 10 4 7 mm or shorter 11 5 J FAT OT EXL JST CNP2 03JFAT SAXGFK XL 3 15 3 SIGNALS AND WIRING 2 Cable connection procedure a Fabrication on cable insulator Refer to table 3 1 and 3 2 for stripped length of the cable insulator The appropriate stripped length of cables depends on their type etc Set the length considering their status Insulator Core r4 e Stripped length Twist strands lightly and straighten them as follows Loose and bent strands Twist and straighten the strands You can also use a ferrule for connection with the connectors When using a ferrule select a ferrule and crimping tool listed in the table below Ferrule model Phoenix Contact Crimp terminal eee Phoenix Contac MR JE 10B to AWG 16 Al1 5 10BK es TWIN2 x 1 5 10BK MR JE 100B AWG 14 AI2 5 10BU AWG 16 AI1 5 10BK Ee TWIN2 x 1 5 10BK CRIMPFOX ZA3 JE D MR JE 300B AWG 14 AI2 5 10BU A TWIN2 x 2 5 10BU AWG 12 Al4 10GY b Inserting wire Insert the open tool as follows and push down it to open the spring While the open tool is pushed down insert the stripped wire into the wire insertion hole Check the insertion depth so that the wire insulator does not get caught by the spring Release the open tool to fix the wire Pull the wire l
6. E 11 15 11 3 Junction terminal block PS7DW 20V14B F recommended A 11 17 11 4 MIR eet Le 11 18 NR S MEST olto Le Le ET 11 18 TLA System UTC 11 19 11 4 3 Precautions for using USB communication function see 11 20 uuu Mmmm 11 21 11 521 Selection of EE 11 21 11 5 2 MR BAT6V1SET A battery m ae De ORE Re REI ites 11 22 11 5 3 MR BT6VCASE battery Case 11 26 A194 MR BA A T Datta m 11 32 11 6 Selection example of wires eene nenemrrren nennen nter 11 33 11 7 Molded case circuit breakers fuses magnetic contactors sssseserensssesteesrtrrsterrrrrrrnnsererrnt 11 34 11 8 Power factor improving AC reachot ener enne 11 35 11 9 Relay recommended d ote e eec eed ee a ce e vid nee ce aue aere ida 11 36 11 10 Noise reduction techniques nennen eere ener nnn nennen trs n innen tenerse nnns 11 37 11 11 Earth leakage current breaker eene emen nnne nnns 11 43 11 12 EMC filter rocommendod yaesir aneas nennen nennen enne nennen nennen nnns 11 45 12 1 SUMIMANY 2 et e nta te eate ta taeda dme es 12 1 1251 1 FEeatures o cocti AE LUUD E MSS ELE 12 1 Nox SL eroe 12 2 12 1 3 Parameter setting tite ep p oe oe id enti ert c n re Rr ee eda 12 2 12 1 4 Confirmation of absolute position detection data 12 2 V2 2 Batteby EE 12 3 12 2 1 Using the MR BAT6V1SET A hatten 12 3 12 2 2 Using the MR BTGVCASE battery Case 12
7. Servo amplifier Servo motor 3 The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier 4 The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable Servo amplifier Servo motor P c When you use an option and peripheral equipment 1 When you use a regenerative option for 1 kW or less servo amplifiers The built in regenerative resistor and wirings should be removed from the servo amplifier The lead wire of the built in regenerative resistor connected to the P terminal and C terminal should not be connected The regenerative option should be connected to the P terminal and C terminal A twisted cable should be used Refer to section 11 2 4 2 When you use a regenerative option for 2 KW or more servo amplifiers The lead wire between the P terminal and D terminal should not be connected The regenerative option should be connected to the P terminal and C terminal A twisted cable should be used Refer to section 11 2 4 4 STARTUP 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 Refer to section 3 2 for details of I O signal connection b A voltage exceeding 24 V DC is not applie
8. Note Refer to the servo system controller instruction manual for the setting 5 PARAMETERS 5 1 5 Extension setting 2 parameters Pr PE DEZ value PEO1 For manufacturer setting 0000h 0000h 0000h U m e U U m m ojo COIN U m o Kei U m A eo Kri bel m rm A K l U m A Co U m KR AR v U m m d pare oo CH U m A N v U m m afoa o U U IT ITI NIN IN pee U m N Co 0000h 000 U m ES EOP3 Function selection E 3 i For manufacturer setting LMCP Lost motion compensation positive side compensation value selection LMCN Lost motion compensation negative side compensation value selection 0 O000h 0000h o o 0 ELM H O000h O000h O000h O000h O000h 011th O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h o o 00 000 000 9 O000h O000h 0 00 0 o o o 2 o mu Ul U m m AJA Ajo 0 01 0 01 01 U m ALA oa 0 IMCD PE50 LMCT Lost motion compensation non sensitive band eC pulse kpulse 010 m rm A Oo U m AB co Q eo e U m A o 5 PARAMETERS DES value For manufacturer setting 0000h Lp E PF13 3 For manufacturer setti
9. CN1A HO Servo system controller or previous servo amplifier 0 CN1B cn1B HO Next servo amplifier CN1A or d cap CN2 ENS Battery Servo motor Note 1 A 1 phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR JE 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 NWARNING Q To prevent electric shock ground each equipment securely Stacking in excess of the specified number of product packages is not allowed Q 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 Q Do not get on or put heavy l
10. Start one touch tuning of MR Configurator2 and select Amplifier command method In the one touch tuning window of MR Configurator2 input a maximum travel distance to move the moving part at one touch tuning Select a response mode High mode Basic mode and Low mode in the one touch tuning window of MR Configurator2 While the servo motor is stopped press the start button to start one touch tuning After the tuning is started the servo motor will reciprocate automatically Executing one touch tuning during servo motor rotation will cause an error After one touch tuning is executed using the amplifier command method control will not be performed by commands from the controller Gains and filters will be adjusted automatically During processing of tuning the tuning progress will be displayed in in MR Configurator2 One touch tuning will be completed automatically after the tuning When one touch tuning is completed normally the parameters described in table 6 1 will be updated automatically When the tuning is not completed normally the tuning error will be displayed Refer to section 6 2 2 5 Check the tuning result When the tuning result is not satisfactory you can return the parameter to the value before the one touch tuning or the initial value Refer to section 6 2 2 8 After executing the one touch tuning resetting the controller or cycling the power of the servo amplifier returns to the state in which cont
11. Current V v OWOT erster detector i 9 supply o qa ty W Wi xL 0 i CHARGE i I lamp ae l B1 l Wo Electro i 24v Dc B magnetic i brake 1 B2 Control circuit Ba ik a Y f ower ase oltage vercurrent urren B amplifier detection protection detection i Encoder 1 z Y l iiia E l Position Virtual l command encoder l input Model Model i position speed i 1 control control I i i lt Z iti o Model position Model speed Model torque Battery for absolute position detection system 1 Actual Actual Current l position speed control control control 1 I USB jf ea Si CND 4 CN5 kr iz Personal Servo system Servo u computer controller or amplifier Digital UO USB servo amplifier or cap 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 1 FUNCTIONS AND CONFIGURATION 2 MR JE 200B or more Regenerative option Dynamic brake circuit Diode stack MCCB MC ij Relay ee O pe Note 1 po 12 Power x supply X Servo motor Position command Control
12. I c k Note 7 Note 2 CN2 ote Encoder cable Encoder Note 6 Power supply CN3 E EM2 CN3 24 V DC Note 9 DOCOM d M MBR M Electromagnetic Note 3 24 V DC Note 9 brake interlock Forced stop 2 Note 2 3 SIGNALS AND WIRING Note 1 o Jo om E Go Always connect between P and D terminals factory wired When using the regenerative option refer to section 11 2 For the encoder cable use of the option cable is recommended For cable selection refer to HG KN HG SN Servo Motor Instruction Manual This diagram is for the sink I O interface For source I O interface refer to section 3 8 3 For connection of servo motor power wires refer to HG KN HG SN Servo Motor Instruction Manual Configure the power supply circuit that turns off the magnetic contactor after an alarm occurs on the controller side Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier Connecting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction Use a magnetic contactor with an operation delay time interval since a current is applied to the coil until the contact closes of 80 ms or shorter Depending on the power supply voltage and operation pattern bus voltage can decrease This can shift the mode to the dynamic brake deceleration du
13. Position command frequency x Vibration suppression control Ki A Vibration frequency NES Vibration cycle Hz Vibration suppression control Vibration cycle Hz Resonance frequency Set the same value Step 3 Fine adjust Vibration suppression control Vibration frequency damping and Vibration suppression control Resonance frequency damping 7 1 6 Command notch filter Q By using the advanced vibration suppression control II and the command notch filter the load side vibration of three frequencies can be suppressed Q The frequency range of machine vibration which can be supported by the command notch filter is between 4 5 Hz and 2250 Hz Set a frequency close to the machine vibration frequency and within the range Q When Pr PB45 Command notch filter is changed during the positioning operation the changed setting is not reflected The setting is reflected approximately 150 ms after the servo motor stops after servo lock 7 11 7 SPECIAL ADJUSTMENT FUNCTIONS 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 vibration such as work side vibration and base shake can be suppressed Which frequency to lower the gain and how deep to lower the gain can be set Position Load side gt t Command notch filter disabled 2 Parameter Set Pr PB45 Command notch f
14. Recommended filter Soshin Electric Servo amplifier SR SE Rated voltage V Leakage current Mass kg AC mA MR JE 100B BU UN 250 5 MR JE 200B Note 30 55 MR JE 300B HF3030A UN Note A surge protector is separately required to use any of these EMC filters 2 Connection example a For 3 phase 200 V AC to 240 V AC power supply EMC filter Servo amplifier MCCB MC Ger 1 4 Een L1 3 phase e Oo v l Oo 200 V AC to 240 V AC om 5 Se E X gt 3 6 0 v L3 E TI Note 4 2 3 Surge protector RSPD 250 U4 o OKAYA Electric Industries Co Ltd Note The example is when a surge protector is connected b For 1 phase 200 V AC to 240 V AC power supply of MR JE 10B to MR JE 100B EMC filter Servo amplifier SE 1 4 Ne L1 e C x Note 1 Pa Gg 1 phase 92 5 L2 200 V AC to 240 VAC l ZX 3 6 Q s9 9 L3 E 0 Note 2 12 3 Surge protector RSPD 250 U4 Si OKAYA Electric Industries Co Ltd Note 1 Connect the power supply to L1 and L3 Leave L2 open 2 The example is when a surge protector is connected 11 45 11 OPTIONS AND PERIPHERAL EQUIPMENT c For 1 phase 200 V AC to 240 V AC power supply of MR JE 200B
15. To comply the instruction and code we have modified the indication on the package for general purpose AC servo batteries The above change will not affect the function and performance of the product 1 Target model a Battery cell Model Option model ER amp MRUSBAT ER17330 MR BAI ABBAT O b Battery unit assembled Model Option model ER17330 MR J2M BT MR BAT6V1 CR17335A MR BAT6V1SET MR BAT6V1BJ MR BAT6V1SET A 2 Purpose Safer transportation of lithium metal batteries App 1 APPENDIX 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 15 and ICAO TI 2009 2010 edition For lithium metal batteries cells are classified as UN3090 and batteries contained in or packed with equipment are classified as UN3091 a A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt from the following attachment of a handling label submission of the Shipper s Declaration for Dangerous Goods and a 1 2 m drop test b A battery handling label size 120 mm x 110 mm is required Emergency telephone number must be filled out in the additional handling information of the Shipper s Declaration for Dangerous Goods c New handling label design containing battery illustration must be used only air transportation MAAR CAUT
16. d Pr PB30 Position loop gain after gain switching Pr PB31 Speed loop gain after gain switching and Pr PB32 Speed integral compensation after gain switching Set the values of after switching position loop gain speed loop gain and speed integral compensation e Vibration suppression control after gain switching Pr PB33 to Pr PB36 Pr PB56 to Pr PB59 y Pr PB60 Model loop gain after gain switching The gain switching vibration suppression control and model loop gain are used only with a control command from the controller You can switch the vibration frequency resonance frequency vibration frequency damping resonance frequency damping and model loop gain of the vibration suppression control 1 and vibration suppression control 2 7 17 7 SPECIAL ADJUSTMENT FUNCTIONS 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 Hz 80 frequency damping frequency damping PBS2 VRF21_ Vibration suppression control 2 Vibration frequency 20 Te ee 0 PB53 RF22 Vibration suppression control 2 Resonance frequency Hz Hz 2 PB54 VRF23 Vibration suppression control 2 Vibration frequency damping PB55 VRF24 Vibration suppression control 2 Resonance frequency damping 8 PB29 Multi PB60 PG1B Modelloop gain after gain switching ras
17. DPI settings other than 96 DPI Display property For 64 bit operating system MR Configurator2 is compatible with Windows 7 and Windows 8 3 When Windows 7 or later is used the following functions cannot be used Windows XP Mode Windows touch 4 When using MR Configurator2 with Windows Vista or later log in as a user having USER authority or higher 5 When Windows 8 is used the following functions cannot be used Hyper V Modern UI style 11 19 11 OPTIONS AND PERIPHERAL EQUIPMENT 2 Connection with servo amplifier Personal computer USB cable Servo amplifier MR J3USBCBL3M 1o USP R Option Ll Cem TT zzz ie A c d4 erac 11 4 3 Precautions for using USB communication function Note the following to prevent an electric shock and malfunction of the servo amplifier 1 Power connection of personal computer Connect your personal computer with the following procedures a When using a personal computer with AC power supply 1 When using a personal computer with a three core power plug or power plug with grounding wire use a three pin socket or ground the grounding wire 2 When your personal computer has two core plug and has no grounding wire connect the personal computer to the servo amplifier with the following procedures a Disconnect the power plug of the personal computer from an AC power socket b Check that the power plug was disconnected and connect th
18. E4 Eg 2 0 No regeneration un d V1 0 1047 Besed tee ES ue E Ces _ Wient du V1 0 1047 Tu Te Ess e V e Tor tpsa2 9 55 104 tosa2 2 From the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies 11 9 11 OPTIONS AND PERIPHERAL EQUIPMENT 2 Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode Servo amplifier Inverse Capacitor Servo amplifier Inverse Capacitor P efficiency charging J H efficiency charging J GEES MRJET MR IE 208 MR JE 2008 MR JE 408 MR JE 300B MR JE70B Inverse efficiency n Efficiency including some efficiencies of the servo motor and servo amplifier when rated regenerative torque is generated at rated speed Since the efficiency varies with the speed and generated torque allow for about 10 Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option ER J n Es Ec Calculate the power consumption of the regenerative option on the basis of one cycle operation period tf s to select the necessary regenerative option PR W ER tf 11 2 3 Parameter se
19. Power supply c LCN3 Forced stop 2 Bk EM2 CN3 24 V DC Note 9 Note 3 DOCOM DICOM c MBR at Electromagnetic 7 Note 3 24 V DC Note 9 brake interlock 3 SIGNALS AND WIRING Note 1 o Jo om E Oo MR JE 40B to MR JE 100B have a built in regenerative resistor factory wired When using the regenerative option refer to section 11 2 For the encoder cable use of the option cable is recommended For cable selection refer to HG KN HG SN Servo Motor Instruction Manual This diagram is for the sink I O interface For source UO interface refer to section 3 8 3 For connection of servo motor power wires refer to HG KN HG SN Servo Motor Instruction Manual Configure the power supply circuit that turns off the magnetic contactor after an alarm occurs on the controller side Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier Connecting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction Use a magnetic contactor with an operation delay time interval since a current is applied to the coil until the contact closes of 80 ms or shorter 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 magnet
20. To enable this setting select 3 inertia mode _ selection in Pr PA24 When Vibration suppression control 2 tuning mode selection is Automatic setting __ 1 in Pr PBO2 this parameter will be set automatically Set this parameter manually for Manual seting 2_ Setting range _ 1 of Vibration suppression mode _ 1 of Vibration suppression mode _ 1 of Vibration suppression mode 5 PARAMETERS m Symbol PB56 VRF21B PB57 VRF22B PB58 VRF23B PB59 VRF24B PB60 PG1B Initial Name and function value unit Vibration suppression control 2 Vibration frequency after gain switching 0 0 to Set the vibration frequency for the vibration suppression control 2 for when the gain switching 300 0 is enabled When a value less than 0 1 Hz is set the value will be the same as that of Pr PB52 To enable this setting select 3 inertia mode _ 1 of Vibration suppression mode selection in Pr PA24 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode 3 Vibration suppression control 2 tuning mode selection in Pr PBO2 is Manual setting _ 2 y Gain switching selection in Pr PB26 is Control command from controller is enabled _ _ 1 Switching during driving may cause a shock Always switch gain after the servo motor stops Vibration suppression control 2 Resonance frequency aft
21. 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 Detailed explanation Section 4 3 Section 11 4 Section 3 2 Section 3 4 Chapter 12 Section 3 2 Section 3 4 Section 1 6 Section 3 4 Section 3 1 Section 3 3 Section 3 1 Section 23 1 FUNCTIONS AND CONFIGURATION 2 MR JE 200B or more x TT ei Side i L1 a 11 12 14 E Name Application 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 UO signal connector CN3 Used to connect digital UO signals Power connector CNP1 Used to connect the input power supply and regenerative option Rating plate 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 c
22. With MR BAT6V1SET A 70 6 mounting hole Pe Unit mm Approx 80 SS 185 22 it i T B SCH EL Ze Id MI 8 LHI 8 LS Hb i 42 ener Heh rman ot Ti PE 22 42 Terminal CNP1 L1 L2 E lt elo Pb Screw size M4 Tightening torque 1 2 Nem lm OODOODOOOOODOOOOO OODOODUOUDOODOOODO E 3 3 Mass 1 5 kg Mounting screw Screw size M5 Tightening torque 3 24 Nem Approx 70 Approx d i Approx 168 156 0 5 3 M5 screw 42 0 3 6 Approx e Approx 22 Es Approx 6 Mounting hole process drawing 9 DIMENSIONS 3 MR JE 200B and MR JE 300B 6 mounting hole Lock knob T oO DUN OO TOUNO Oll me 1 III kr Uran Terminal 90 85 Unit mm DDT
23. b Internal wiring diagram 11 7 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 2 Regenerative option Q Do not use servo amplifiers with regenerative options other than the combinations NCAUTI ON specified below Otherwise it may cause a fire 11 2 1 Combination and regenerative power The power values in the table are resistor generated powers and not rated powers Regenerative power W aas Em MR RBO32 MR RB12 MR RB30 MR RB32 eg Dn H0 0 40 0 13 0 40 0 ies MRJE 40B D 30 _ MRJE20B n 30 10 __ weieng 10 39 100 weem 29 30 weem 20 30 MR JE 200B MR JE 300B Note Always install a cooling fan 11 8 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 2 2 Selection of regenerative option Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in depth selection of the regenerative option 1 Regenerative energy calculation 9 1 tf 1 cycle a r V n U I S p Oo L L 5 a S EA 1 3 4 E wh fe one cnm e Friction m p torque S 4 S Power running Tr 5 5 L 19 js 9 o gt o T to 6 V s f S 3 O Regenerative 7 1 Formulas for calculating torque and energy in operation int du V 0 1047 9 55 10 22 E7703 Vt Th e fosar a mT E 0 1047 V T2 t AWentA V T 0 1047 955 101 ta e V Ts S tosa2
24. Blank zZ o D Di 3 gt lt Servo motor speed M Ormin Stop with dynamic brake b When the hot line forced stop function is disabled 1 If an alarm that leads to a deceleration to a stop occurs in the second axis servo amplifier and then the power supply is off Power off of the servo amplifier Alarm occurrence in which an alarm occurred Hot line alarm signal from Signal the servo amplifier in which an alarm occurred No signal i Hot line forced stop signal ON from the controller OFF l I Input power ON l i supply OFF Servo amplifier 1 f The first axis 4 display e i servo amplifier i l Servo motor speed l Ormin e EFS erg ag d gs eget eal ical ge ee Power on Input power ON pa supply OFF The second axis I ge i servo amplifier Servo amplifier i i the servo display No alarm X Alarm No X Blank amplifier in lt which sn alam Deceleration ocourted Servo motor l to a stop l l speed i O F miri nomen ence E oc Input power ON supply OFF S lifi The third axis goe ed No alarm i XAA servo amplifier lt r l and later i Deceleration Servo motor to a stop speed i 3 SIGNALS AND WIRING 2 If an alarm that stops the servo motor with the dynamic brake occurs in the second ax
25. E7 1 Controller forced stop warning will occur and normally operating servo amplifiers will decelerate to a stop E7 1 will be shown on the display of the servo amplifier 3 SIGNALS AND WIRING 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 controller will be in a non connection state AA will be shown on the display of the servo amplifier 4 Timing ch a When art the hot line forced stop function is enabled 1 If an alarm that leads to a deceleration to a stop occurs in the second axis servo amplifier and then the power supply is off To CO Hot line alarm sig the servo amplifier in which an alarm occurred clear AL E7 1 Controller forced stop warning give the error reset command from the ntroller Power off of the servo amplifier Alarm occurrence in which an alarm occurred nal from Signal No signal 3 5 ms communication cycle re gt i Hot line forced stop signal ON from the controller OFF l og Input power ON E I supply OFF l Servo amplifier FNI No al E7 1 The first axis display Ee X servo amplifier 3 EN Deceleration to a stop Servo motor l l speed ia V Or min BE EE Et n Poweron NE duration og Input power ON 4 supply OFF N The second axis La servo am
26. For 3 phase 200 V AC to 240 V AC power supply of MR JE 10B to MR JE 100B Qe For MR JE B servo amplifiers the hot line forced stop function is enabled at factory setting For MR J4 B servo amplifiers the hot line forced stop function is disabled at factory setting Qf an alarm occurs the hot line forced stop function outputs hot line forced stop signals to all servo amplifiers before a communication to the controller is cut Then servo amplifiers will be in the AL E7 1 Controller forced stop warning state and will decelerate to a stop Q The hot line forced stop function can be disabled with Pr PA27 Q Configure the power supply circuit which turns off magnetic contactors of all servo amplifiers after detection of alarm occurrence on the controller side at alarm occurrence Servo amplifier Servo motor MCCB MC Note8 CNP1 X ad x O L1 3 phase di NE Bit Note 4 7 A M AD lo X Zi L2 regenerative Ge U Motor x ER o 3 resistor vo V a oe Note 1 CH P SEA W j gs EE Ee LS S jd Note 7 Note 2 CN2 ote Encoder cable SR Note 6 Power supply CN3 Forced SIE I EM2 CNS3 24 V DC Note 9 Note 3 DOCOMI 34 disi MBR 1 Electromagnetic Note 3 24V DC Note 9 brake interlock 3 SIGNALS AND WIRING Note 1 o Jo om E Oo MR
27. M3 x 6L t4 11 4 MR Configurator2 MR Configurator2 SW1DNC MRC2 uses the communication function of the servo amplifier to perform parameter setting changes graph display test operation etc on a personal computer 11 4 1 Specifications Alarm display alarm onset data drive recorder no motor rotation system configuration life Diagnosis diagnosis machine diagnosis Test operation JOG operation positioning operation motor less operation DO forced output program operation test mode information Adjustment One touch tuning tuning and machine analyzer Servo assistant parameter setting range update machine unit conversion setting help display Others Nm connecting to Mitsubishi Electric FA site 11 18 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 4 2 System requirements 1 Component To use MR Configurator2 SW1DNC MRC2 the following components are required in addition to the servo amplifier and servo motor UIT Microsoft Windows 8 1 Enterprise Operating System Microsoft Windows 8 1 Pro Operating System Microsoft Windows 8 1 Operating System Microsoft Windows 8 Enterprise Operating System Microsoft Windows 8 Pro Operating System Microsoft Windows 8 Operating System Microsoft Windows 7 Enterprise Operating System Microsoft Windows 7 Ultimate Operating System Microsoft Windows 7 Professional Operatin
28. Note 3 DOCOM ZE MBR Electromagnetic gt Note 3 c IRAT 9 24 V DC Note 9 brake interlock 3 SIGNALS AND WIRING Note 1 o Jo om E Go Always connect between P and D terminals factory wired When using the regenerative option refer to section 11 2 For the encoder cable use of the option cable is recommended For cable selection refer to HG KN HG SN Servo Motor Instruction Manual This diagram is for the sink I O interface For source I O interface refer to section 3 8 3 For connection of servo motor power wires refer to HG KN HG SN Servo Motor Instruction Manual Configure the power supply circuit that turns off the magnetic contactor after an alarm occurs on the controller side Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier Connecting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction Use a magnetic contactor with an operation delay time interval since a current is applied to the coil until the contact closes of 80 ms or shorter 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 The illustr
29. PA04 is set to the initial value The stop method of SD can be changed to DB using Pr PA04 8 TROUBLESHOOTING MEMO 9 DIMENSIONS 9 DIMENSIONS 9 1 Servo amplifier 1 MR JE 10B to MR JE 40B Unit mm With MR BAT6V1SET A m L 50 A 6 6 mounting hole 135 a hs ej Us L N oo ite hs Kal d 5 L1 H E oe TLLA of PE Ls The built in regenerative resistor lead wire is 6 mounted only in MR JE 40B WE JOOOOOOOU JC J eS SOOOOOOOOGOGLD JE Tt raf LJ 29 Mass 0 8 kg Mounting screw Sel Screw size M5 Tightening torque 3 24 Nem CNP1 g g torq Nem L1 Approx 50 LZ Approx 6 L3 5 2 M5 screw P ae fc lt y a U E V 1 w o o i S i a wo 7 o PE Screw size M4 9 Tightening torque 1 2 N m 1 i Qt S a Mounting hole process drawing lt 9 DIMENSIONS 2 MR JE 70B and MR JE 100B
30. The year and month of manufacture Country of origin 2 Model The following describes what each block of a model name indicates MR JE 10B SSCNETIII H interface Series Rated output Symbol Rated output KW 1 FUNCTIONS AND CONFIGURATION 1 7 Structure 1 7 1 Parts identification 1 MR JE 100B or less 7 8 Name Application 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 UO signal connector CN3 Used to connect digital UO 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 Encoder connector CN2 Used to connect the servo motor encoder EN S9 Power connector CNP1 Used to connect the input power supply built in regenerative resistor regenerative option and servo motor Charge lamp
31. When you select Enabled 1 of Machine resonance suppression filter 4 selection in Pr PB49 the shaft resonance suppression filter cannot be used Shaft resonance suppression filter setting frequency selection Set the shaft resonance suppression filter Refer to table 5 4 for settings Set the value closest to the frequency you need Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Ox For manufacturer setting Oh Table 5 4 Shaft resonance suppression filter setting frequency selection Low pass filter setting 3141 100 to Set the low pass filter rad s 18000 The following shows a relation of a required parameter to this parameter Pr PB23 Pr PB18 _ _0_ Initial value Automatic setting NEU Setting value enabled ma Setting value disabled 5 PARAMETERS setting 2 Refer to section 7 1 5 for details Vibration suppression control 1 Resonance frequency damping Set a damping of the resonance frequency for the vibration suppression control 1 to suppress Initial Setting Name and function value range Unit Vibration suppression control 1 Vibration frequency 100 0 0 1 Set the vibration frequency for the vibration suppression control 1 to suppress low frequency Hz to machine vibration 300 0 When Vibration suppression control 1 tuning mode selection is Automatic setting ___ 1 in Pr PBO2 this parameter will be set automatically Set this parameter manually when Manu
32. in Pr PB26 is Control command from controller is enabled _ _ _ 1 Switching during driving may cause a shock Always switch gain after the servo motor stops PB35 VRF13B Vibration suppression control 1 Vibration frequency damping after gain switching Set a damping of the vibration frequency for the vibration suppression control 1 for when the gain switching is enabled This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode ____ 3 Vibration suppression control 1 tuning mode selection in Pr PBO2 is Manual setting _ _ 2 Gain switching selection in Pr PB26 is Control command from controller is enabled _ _ _ 1 Switching during driving may cause a shock Always switch gain after the servo motor stops 0 00 to 0 30 PB36 VRF14B Vibration suppression control 1 Resonance frequency damping after gain switching Set a damping of the resonance frequency for the vibration suppression control 1 for when the gain switching is enabled This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode ___ 3 Vibration suppression control 1 tuning mode selection in Pr PBO2 is Manual setting _ _ 2 Gain switching selection in Pr PB26 is Control command from controller is enabled _ _ _ 1 Switching during driving may
33. machine vibration To enable this setting select 3 inertia mode _ 1 of Vibration suppression mode selection in Pr PA24 When Vibration suppression control 2 tuning mode selection is Automatic setting 1 in Pr PBO2 this parameter will be set automatically Set this parameter manually when Manual setting _ 2 _ is selected Vibration suppression control 2 Resonance frequency Set the resonance frequency for the vibration suppression control 2 to suppress low frequency machine vibration To enable this setting select 3 inertia mode selection in Pr PA24 When Vibration suppression control 2 tuning mode selection is Automatic setting 1 in Pr PBO2 this parameter will be set automatically Set this parameter manually for Manual setting __ 2_ Vibration suppression control 2 Vibration frequency damping Set a damping of the vibration frequency for the vibration suppression control 2 to suppress low frequency machine vibration To enable this setting select 3 inertia mode _ selection in Pr PA24 When Vibration suppression control 2 tuning mode selection is Automatic setting __ 1 in Pr PBO2 this parameter will be set automatically Set this parameter manually for Manual setting 2_ Vibration suppression control 2 Resonance frequency damping Set a damping of the resonance frequency for the vibration suppression control 2 to suppress low frequency machine vibration
34. resonance Bee i resonance suppression I suppression Encoder filter 4 l T filter 5 Pr PB17 ate PWM Shaft ME suppression 1 4 Robust filter Servo motor filter Torque ON Detects the machine resonance and reconfigures the filter automatically ALM Malfunction OFF WNG ON Warning OFF ON i During tough drive MTTR is not turned on in the vibration tough drive function MTTR l l During tough drive ofr 7 SPECIAL ADJUSTMENT FUNCTIONS 7 3 2 Instantaneous power failure tough drive function The instantaneous power failure tough drive function avoids AL 10 Undervoltage even when an instantaneous power failure occurs during operation When the instantaneous power failure tough drive activates the function will increase the tolerance against instantaneous power failures using the electrical energy charged in the capacitor in the servo amplifier and will change an alarm level of AL 10 Undervoltage simultaneously The AL 10 1 Voltage drop in the power detection time for the power supply can be changed by Pr PF25 Instantaneous power failure tough drive Detection time MBR Electromagnetic brake interlock will not turn off during the instantaneous power failure tough drive Selecting Enabled __ _ 1 for Torque limit function selection at instantaneous power failure in Pr PA26 will limit torques to save electric energy when an instantaneou
35. 0 1 1 5 to 2 0 2 Table 11 3 Servo amplifier leakage current example Iga Servo amplifier capacity kW Leakage current mA 0 11004 075103 Table 11 4 Earth leakage current breaker selection example Rated sensitivity current of earth serva amplisr EREECHEN leakage Se breaker mA HEES 2 Selection example Indicated below is an example of selecting an earth leakage current breaker under the following conditions 2 mm x 5m 2 mm x 5m NV Servo amplifier Servo motor MR JE 40B M Gewan oi Iga Io Igm Use an earth leakage current breaker designed for suppressing harmonics surges Find the terms of equation 11 1 from the diagram Ig1 20 0 1 mA 1000 5 1000 0 1 mA Ig2 20 Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in equation 11 1 Ig 2 10 0 1 400 1 1 0 1 0 1 gt 4 mA According to the result of calculation use an earth leakage current breaker having the rated sensitivity current Ig of 4 0 mA or more An earth leakage current breaker having Ig of 15 mA is used with the NV SP SW CP CW HW series 11 44 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 12 EMC filter recommended It is recommended that one of the following filters be used 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 1 Combination with the servo amplifier
36. 15 APPENDIX App 7 When turning on or off the input 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 1 Note 1 NOOO o0 OFF ON Emergency stop switch Es e s M Note 5 I Alarm I 24 V DC Note 2 4 Servo amplifier MCCB MC Note 7 Note 1 XA v 3 phase x 200 V AC to px 240 V AC Note 6 Power suppl Forced stop 2 pes m Note 3 24 V DC Note 5 For 1 phase 200 V AC to 240 V AC of MR JE 10B to MR JE 100B connect the power supply to L1 and L3 Leave L2 open For 1 phase 200 V AC to 240 V AC of MR JE 200B connect the power supply to L1 and L2 Leave L3 open MR JE 300B is not applicable to 1 phase 200 V AC to 240 V AC power supply Do not use the 24 V DC interface power supply for magnetic contactor Always use the power supply designed exclusively for the magnetic contactor This diagram is for the sink I O interface For source I O interface refer to section 3 8 3 Controlling the on switch or off switch with DC power supply satisfies the requirements of IEC EN 60204 1 Configure the power supply circuit that turns off the magnetic contactor after an alarm occurs on the controller side Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier Use a magnetic contactor wi
37. 16 Encoder initial communication error 1 MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H Set the parameters according to the structure and specifications of the machine Refer to chapter 5 for details After setting the above parameters turn off the power as necessary Then switch power on again to enable the parameter values 3 Servo on Enable the servo on with the following procedure a Switch on the power b Transmit the servo on command with the servo system controller When the servo on status is enabled the servo amplifier is ready to operate and the servo motor is locked 4 Home position return Always perform home position return before starting positioning operation 4 STARTUP 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 Refer to section 3 10 for the servo motor with an electromagnetic brake ii Operation and command Stopping condition The base circuit is shut off and the servo motor coasts The base circuit is shut off and the dynamic brake operates to Servo system Ready off command controller bring the servo motor to a stop The servo motor decelerates to a stop with the command AL Forced stop command E7 Controller forced stop warning occurs The servo motor decelerates to a stop with the command With Alarm occurrence some alarms however the dynamic brake operates to bring the servo mot
38. 2 Vibration 20 EN 30 NT 20 frequency Vibration suppression control 2 20 E 30 20 Resonance frequency Vibration suppression control 2 Vibration 0 10 E 0 05 E 0 10 frequency damping Vibration suppression control 2 0 10 0 05 0 10 Resonance frequency damping 2 When you choose switching by droop pulses In this case the vibration suppression control after gain switching and model loop gain after gain switching cannot be used a Setting example PB29 GD2B Load to motor inertia ratio after 10 00 Multiplier gain switching PB30 PG2B Position loop gain after gain 84 rad s Switching Switching gain switching PB26 CDP Gain switching selection 0003 BEEN RE PB27 CDL Gain switching condition pulse PB28 CDT _ Gain switching time constant 7 19 7 SPECIAL ADJUSTMENT FUNCTIONS b Switching timing chart Command pulses Droop pulses Command pulses Droop pulses 0 pulse Before switching gain Gain switching Position loop gain 120 84 Speed loop gain 3000 4000 Speed integral compensation 20 50 3 When the gain switching time constant is disabled a Gain switching time constant disabled was selected The gain switching time constant is disabled with this setting The time constant is enabled at gain return The following example shows for Pr PB26 CDP 0103 Pr PB27 CDL 100 pulse and Pr PB28 CDT 100 ms Command pulses FIOO pu
39. 2 Manual setting Vibration suppression control 2 tuning mode selection Select the tuning mode of the vibration suppression control 2 To enable the digit select 3 inertia mode _ 1 of Vibration suppression mode selection in Pr PA24 Function selection A 4 0 Disabled 1 Automatic setting 2 Manual setting EUM Oh 5 18 5 PARAMETERS Initial Settin Name and function value 9 range unit Load to motor inertia ratio 7 00 0 00 to Set the load to motor inertia ratio Multiplier 300 00 Setting a value considerably different from the actual load moment of inertia may cause an unexpected operation such as an overshoot The setting of this parameter will be the automatic setting or manual setting depending on the value set in Pr PAO8 Refer to the following table for details When the parameter is automatic setting the value will vary between 0 00 and 100 00 Pr PA08 This parameter interpolation mode Manual setting Model loop gain 15 0 1 0 to Set the response gain up to the target position rad s 2000 0 Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and or noise The setting of this parameter will be the automatic setting or manual setting depending on the value set in Pr PAO8 Refer to the following table for details ___ 0 2 gain adjustment mode 1 interpolation mode Automatic setting __ _ 2 Auto tunin
40. 3 Adjustment procedure by auto tuning ssssesseene eene 6 20 6 3 4 Response level setting in auto tuning mode eene 6 21 0 4 Manual mode o trt qe bib i eod d t ebd ate tbe tetas bees iH ten 6 22 6 5 2 garni adjustmentmode tease ie Deb sei ie ene ele I tena iple HAE ORE 6 25 7 4 Ile Ile EE 7 1 7 1 1 Machine resonance suppression filter sssssssssseseenee mene 7 1 7 12 Adaptive TOK lia secs eer e E ere ete Perd qe reste este OPERA ipee decus 7 4 7 1 3 Shaft resonance suppression Tier 7 6 CVA EoWSpasS tllter TEE 7 7 7 1 5 Advanced vibration suppression Control ll 7 7 AES Commandinoteh filter ode eda cd etre uta ete eis 7 11 1 2 Gain switching function aiu RE e ihe e ien E Rete 7 13 7 2 1 Miel Tee 7 13 7 2 2 Function block diagram manon era a eene nre emen ener nene 7 14 1 2 3 Parameter eioi air eegen nies ens nee eee el eee eee 7 15 ZA Gain switching procedure s rierada oiana pae aa EaR kan buona Penne habena knee hana erasa ona 7 18 4 3 Tough drive function oie ed ile ee Hebe ae eee eb cde debeo deba Ad 7 22 7 3 1 Vibration tough drive Iupnchon eene enne nnns 7 22 7 3 2 Instantaneous power failure tough drive function enne 7 24 7 4 Model adaptive control disabled iesst it ette eben ease Eege ine Eea 7 26 7 5 Lost motion compensation function eene retener rennen nnne 7 27 8 TROUBLESHOOTING 8 1 to 8 8 9 1 Explanation eet TEE 8 1 8 2 AlarmiliSt eae eee a e nee eic Pd e o
41. 4 5 2 Motor less operation in the controller emen 4 13 St Parameter IIStz 2 cie edt HM RE edel e ool ise pires 5 1 5 1 1 Basic setting parameters Pr PA IA 5 2 5 1 2 Gain filter setting parameters Pr PB D 5 3 5 1 3 Extension setting parameters Pr PC D 5 4 5 1 4 I O setting parameters Pr PD sss mme 5 6 5 1 5 Extension setting 2 parameters Pr PE D 5 7 5 1 6 Extension setting 3 parameters Pr PE IL 5 8 5 2 Detalled liSt of parameters bg tede qiti bte Bedae pie feun i ite eae EMIT cade 5 10 5 2 1 Basic setting parameters Pr PA IA 5 10 5 2 2 Gain filter setting parameters Pr PB D 5 18 5 2 3 Extension setting parameters Pr PC D 5 30 5 2 4 I O setting parameters Pr PD D 5 33 5 2 5 Extension setting 2 parameters Pr PE D 5 36 5 2 6 Extension setting 3 parameters Pr PF ID 5 37 6 1 Different adjustment method 6 1 6 1 1 Adjustment on a single servo amplifier sssesseen ene 6 1 6 1 2 Adjustment using MR Confourator A 6 2 6 2 One touch tuning EE 6 3 6 2 1 One touch tuning Towchart eene nennen enne ener nennt nennen 6 5 6 2 2 Display transition and operation procedure of one touch tuning sssssssssssss 6 7 6 2 3 Caution for one touch WnG eene 6 17 6 3 Auto tunlng hie en teet nderit nace dete ed te eet ets 6 18 6a TAO TUNING MOG P P 6 18 0 3 2 Auto tuning mode basis tsesen ienien dde dde eee idera ed seu a dte nne ende 6 19 6 3
42. 4 selection in Pr PB49 PB49 NHQ4_ Notch shape selection 4 Refer to the Set forms of the machine resonance suppression filter 4 Name and function column Machine resonance suppression filter 4 selection 0 Disabled 1 Enabled When you select Enabled of this digit Pr PB17 Shaft resonance suppression filter cannot be used Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Notch width selection 0 222 1 a23 2 074 3 075 PB50 NH5 Machine resonance suppression filter 5 4500 10 to Set the notch frequency of the machine resonance suppression filter 5 Hz 4500 To enable the setting value select Enabled 1 of Machine resonance suppression filter 5 selection in Pr PB51 5 PARAMETERS D PB51 PB52 PB53 PB54 PB55 Symbol NHQ5 Initial Name and function value unit Notch shape selection 5 Refer to the Set forms of the machine resonance suppression filter 5 Name and When you select Enabled _ 1 of Robust filter selection in Pr PE41 the machine function column resonance suppression filter 5 cannot be used gt X Machine resonance suppression filter 5 selection Oh 0 Disabled 1 Enabled Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Notch width selection 0 222 1 a23 2 074 3 075 For manufacturer setting Vibration suppression control 2 Vibration frequency Set the vibration frequency for the vibration suppression control 2 to suppress low frequency
43. 6 V voltage drop occurs in the servo amplifier Servo amplifier If polarity of diode is reversed servo amplifier will malfunction Load DOCOM Note 24 V DC 10 100 mA Note If the voltage drop maximum of 2 6 V interferes with the relay operation apply high voltage maximum of 26 4 V from an external source 3 SIGNALS AND WIRING 3 9 SSCNET III cable connection Do not look directly at the light generated 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 1 SSCNET III cable connection For the CN1A connector connect the SSCNET III cable connected to a controller in host side or a servo amplifier of the previous axis For the CN1B connector connect the SSCNET III cable connected to the servo amplifier of the next axis For the CN1B connector of the final axis put a cap came with the servo amplifier The first axis servo amplifier The second axis servo amplifier The last axis servo amplifier D D D i 2 2 D SSCNET III SSCNET III SSCNET III cable cable cable Controller CN1A CN1A a CN1A ut E Cap CN1B CN1B CN1B UGC iy 1 Ucc ic 2 How to connect disconnect cable Q The CN1A and CN1B connectors are capped to protect light devices inside the connector from dust For this reason do not remove a cap
44. 98 18 21 7 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 number of I O points 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 effective load ratio 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 1 FUNCTIONS AND CONFIGURATION 1 4 Combinations of servo amplifiers servo motors and controllers 1 4 1 Combinations of servo amplifiers and servo motors MR JE 70B HG KN73 Mme V MR JE 200B HG SN152 TT exe O MR JE 300B HG SN302_ 1 4 2 Compatible controller For the simple motion module refer to the user s manual of each series Simple motion module MELSEC iQ R series RD77MS MELSEC Q series QD77MS_ MELSEC L series LD77MS MELSEC iQ F series FX5 40SSC S 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 Detailed explanation This function realizes a high response and stable control following the ide
45. Adjustment While the servo motor is stopped turn off EM2 Forced stop 2 adjust the base circuit shut off delay time in Pr PCO2 and set the value to approximately 1 5 times of the smallest delay time in which the servo motor shaft does not freefall 3 6 3 Vertical axis freefall prevention function The vertical axis freefall prevention function prevents machine damage by pulling up the shaft slightly like the following case When the servo motor is used for operating vertical axis the servo motor electromagnetic brake and the base circuit shut off delay time function prevent dropping axis at forced stop However the functions may not prevent dropping axis a few um due to the backlash of the servo motor electromagnetic brake The vertical axis freefall prevention function is enabled with the following conditions Other than O is set to Pr PC31 Vertical axis freefall prevention compensation amount EM2 Forced stop 2 turns off an alarm occurs or SSCNET III H communication shut off occurs while the servo motor speed is zero speed or slower The base circuit shut off delay time function is enabled 1 Timing chart ON EM2 Forced stop 2 OFF Enabled Position Travel distance a Base circuit ON Energy supply to OFF i the servo motor l ke MBR ON 2 Set the base circuit shut off delay time Pr PCO2 Electromagnetic brake interlock OFF Enabled Actual
46. Disassembly of the case MR BT6VCASE is shipped assembled To mount MR BAT6V1 batteries the case needs to be disassembled Remove the two screws using a Phillips head screwdriver Parts identification p BAT2 BATS 1 TW rr Remove the cover 11 29 11 OPTIONS AND PERIPHERAL EQUIPMENT b Mounting MR BAT6V1 Securely mount an MR BAT6V1 to the BAT1 holder 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 If the connector is pushed forcefully in the incorrect direction the connector will break Place the MR BAT6V1 lead wire to the duct designed to store lead wires Insert MR BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5 ad E UN E E WI C Leg ES S SE Bring out the lead wire from the space between the ribs and bend it as shown above to store it in the duct Connect the lead wire to the connector Be careful not to get the lead wire caught in the case or y other parts When the lead wire is damaged external short circuit may occur and the battery
47. Dynamic brake time constant T Machine speed te Time EEN Maximum coasting distance TTUTTCCeTLTCTTe CeCe TECeCOCeTCLeC ere cee rT Tee eee eeerrerrrrecrrrrerr rere rere errr err rer rr re mm Vo Machine s fast feed speed ne mm min Ju Moment of inertia of the servo motor ee x 107 kom Ji Load moment of inertia converted into equivalent value on servo motor sbaft x 10 kgem T Dynamic brake time constant HAREARAARAREARARARAWARAARWARAARARAARARRARARRAEAARRARRARRARARWAARAARAAAARARTAAARAYAWARTARTAWAARARAWAAAx s t Delay time of control section anananannananaanaaananananananannnananananananananananananananananananannnananananananananan s There is internal relay delay time of about 10 ms 10 5 10 CHARACTERISTICS 2 Dynamic brake time constant The following shows necessary dynamic brake time constant r for equation 10 2 40 200 o 35 o 180 B son E 160 9 9 140 257 SZ 120 S5 20r S5 100 of t S 80 EC ES 60 SH 10r S88 S S 40 gt gt a E a 20 0 0 O 1000 2000 3000 4000 5000 0 500 1000 1500 2000 2500 3000 Speed r min Speed r min HG KN series HG SN series 10 3 2 Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table If the ratio is higher than this value the dynamic brake may burn If there is a possibility that the ratio may exceed the value contact your local
48. EM 3 23 3 7 Alarm occ rrence timing chatt ebe Seegen 3 24 3 7 1 When you use the forced stop deceleration Tunchon 3 24 3 7 2 When you do not use the forced stop deceleration Tunchon cc iceteeeeeeteeeeettteeeetenteeeerens 3 25 3 7 3 Hot line forced stop function 3 26 3 8 IMME EES EI 3 32 3 8 1 Internal connection dragram eene nennen enne nnne nnns 3 32 3 8 2 Detailed explanation of interfaces eene 3 33 3 8 3 Source I O interfaces edd dte eene d Ae e ea edad dee aeu ede dee arua 3 34 3 9 SSCNET III cable CONNECTION enne nnne str e aeaa 3 35 3 10 Servo motor with an electromagnetic brake A 3 37 39 101 Satety precautloris EE 3 37 9 10 2 Ri ue Ben Te 3 39 KN Groundihgosi iine etie eu pne ime pim eee ren 3 42 4 1 Switching power on for the first time em emm nennen nennen 4 1 4 1 1 Startup procedure ne mer ter QR er ce Fe d Da d gege 4 1 4 1 2 Wiring Check uiae ette ene Lade ae dtt ein uote eed ett ege To eeu beet i 4 2 41 3 Surrounding enviFonrriet 3 aiaei a aa teret gc e ede a eager e ee deua e ante 4 3 Eege Deeg ds Eden ee ee ee MIC ees 4 4 4 3 Switch setting and display of the servo amplifier mem 4 5 4 3 1 Axis selection rotary switch SW nennen nnns 4 5 4 3 2 e rell Tee EE EE 4 7 4 3 3 Status display of an axis nien alae e gain a Gatien 4 8 4 4 Test Operation cori ti tee end ete ev LO o qe quce ee edere Le evt Eget tees 4 10 4 5 Te enee EE 4 10 4 5 1 Test operation mode in MR Confourator A 4 11
49. ES NSSSSNNNE EIER Note For cables of 30 m or shorter contact your local sales office 2 Specifications peer Desorption SSCNET Ill cable model MR J3BUS M MR J3BUS M A MR J3BUS M B SSCNET III cable length 0O3mto3m 5mto20m 30mto50m Optical Mini Enforced covering cable Enforced covering cable cable EU 50 mm 50 mm bending radius cord Mg TAOM Cord 25 mm Cord 30 mm 420 N 980 N T t th won N Tension srengh TN 1 mn Enforced covering cable Enforced covering cable Temperature range for 40 C to 85 C 20 C to 70 C operation Note Indoors no direct sunlight no solvent or oil KR Q e N N Appearance mm Note This temperature range for use is the value for optical cable cord only The temperature condition for the connector is the same as that for the servo amplifier 11 5 11 OPTIONS AND PERIPHERAL EQUIPMENT 3 Dimensions a MR J3BUS015M Protective tube Approx 6 7 Approx Approx 15 13 4 k gt Approx 20 9 i Unit mm gt gt lt Approx 2 3 8 b MR J3BUS03M to MR J3BUS3M Refer to the table shown in 1 of this section for cable length L Protective tube Note Unit mm Approx 100 gt Approx 100 Note Dimension of connector part
50. J2HBUS_M Cable clamp AERSBAN ESET Ground the option cable on the junction terminal block side with the cable clamp fitting AERSBAN ESET For the use of the cable clamp fitting refer to section 11 10 2 c 2 Connection diagram of MR J2HBUS_M cable and junction terminal block Junction terminal block Servo amplifier PS7DW 20V14B F CN3 Note MR J2HBUS_M CN Terminal block 1 1 1 1 2 2 2 2 DOCOM 3 3 3 3 DOCOM 4 4 4 4 5 5 5 5 6 6 6 6 7 7 7 7 8 8 8 8 9 9 9 9 DICOM 10 10 10 10 DICOM 11 11 11 11 12 12 12 12 MBR 13 13 13 13 MBR 14 14 14 14 15 15 15 15 16 16 16 16 17 17 17 17 18 18 18 18 19 19 19 19 EM2 20 20 20 20 EM2 SD Shell Shell Shell E SD Connector 52316 2019 Molex Shell kit 52370 2070 Molex Note A symbol indicating the cable length is put in _ 05 0 5m 1 1m 5 5m 11 17 11 OPTIONS AND PERIPHERAL EQUIPMENT 3 Dimensions of junction terminal block Unit mm Ec inl TB E 6 l El TET o SS afin nu M3 x 5L M a INT i i L i J Te Cm t T i 4 Sr LO L 3 m 6 2 1 42
51. JE 40B to MR JE 100B have a built in regenerative resistor factory wired When using the regenerative option refer to section 11 2 For the encoder cable use of the option cable is recommended For cable selection refer to HG KN HG SN Servo Motor Instruction Manual This diagram is for the sink I O interface For source UO interface refer to section 3 8 3 For connection of servo motor power wires refer to HG KN HG SN Servo Motor Instruction Manual Configure the power supply circuit that turns off the magnetic contactor after an alarm occurs on the controller side Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier Connecting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction Use a magnetic contactor with an operation delay time interval since a current is applied to the coil until the contact closes of 80 ms or shorter 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 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 3 SIGNALS AND WIRING 2 For 1 phase 200 V AC
52. MR BAT6V1 battery Rating plate 2CR17335A WK17 DV 1650mAh The year and month of manufacture Battery pack 2CR17335A primary lithium battery Nominal voltage V i ithium Dangerous goods class Inapplicable to Class 9 9 9 Battery pack containing 2 g or less lithium Operating humidity and 90 RH or less non condensing storage humidity Note Battery life 5 years from date of manufacture Mass ig Note Quality of the batteries degrades by the storage condition The battery life is 5 years from the production date regardless of the connection status 11 32 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 6 Selection example of wires Q 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 Q The following shows selection conditions of wire size Construction condition Single wire set in midair Wire length 30 m or shorter The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 1 Power lead Servo amplifier L2 VC T L3 Wc L Power supply 2 Servo motor power supply lead Regenerative option BEEN 3 Regenerative option lead Table 11 1 shows examples for using the 600 V grade heat resistant polyvinyl chloride insulated wire HIV wire Table 11 1 Wire size selection example
53. Model speed command 0 and equal to or less than zero speed Ormin Base circuit ON Energy supply to the servo motor OFF S lifi dede nier No alarm d1 or E7 MBR ON Electromagnetic brake interlock OFF ON no alarm OFF alarm ALM Malfunction Note The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor 3 7 2 When you do not use the forced stop deceleration function To disable the function set 0 _ _ _ in Pr PAO4 The timing chart that shows the servo motor condition when an alarm or SSCNET III H communication shut off occurs is the same as section 3 7 1 2 3 SIGNALS AND WIRING 3 7 3 Hot line forced stop function Q When the power supply of the servo amplifier is shut off during deceleration to a stop by a hot line forced stop signal the servo motor will be stopped with the dynamic brake Q For using the hot line forced stop function with MR JE B servo amplifier and MR J4 B servo amplifier together refer to appendix 9 for the hot line forced stop function of MR J4 B servo amplifiers 1 Summary The hot line forced stop function enables all servo amplifiers to decelerate to a stop and them to stop safely if an alarm occurs in a system configuration using MR JE B servo amplifiers Since the power supply of the MR JE B servo amplifier is commonly used for main circuit and control c
54. PB30 PGZB Postionloopgeimafergamswiching 84 ros PBST rads PB32 VICB Speed integral compensation after gain switching o 5 ms PB26 CDP Gain switching function 0001 Switch by control command from the controller PB28 CDT Gain switching time constant ms PB33 VRF11B Vibration suppression control 1 Vibration frequency Hz after gain switching 50 50 20 20 0 20 10 10 50 4 50 frequency after gain switching damping after gain switching frequency damping after gain switching after gain switching Hz PB58 VRF23B Vibration suppression control 2 Vibration frequency damping after gain switching PB59 VRF24B Vibration suppression control 2 Resonance frequency damping after gain switching 15 0 15 30 30 05 0 05 PB57 VRF22B Vibration suppression control 2 Resonance frequency after gain switching 3 V om B9 V se 7 18 7 SPECIAL ADJUSTMENT FUNCTIONS b Switching timing chart Control command from controller cep ON Ae o After switching gain Before switching gain Gain switching Speed loop gain 20 50 20 Vibration suppression control 1 Vibration 50 EN 60 EN 50 frequency Vibration suppression control 1 50 E 60 50 Resonance frequency Vibration suppression control 1 Vibration 0 20 m 0 15 EN 0 20 frequency damping Vibration suppression control 1 0 20 E 045 EN 0 20 Resonance frequency damping Vibration suppression control
55. PERIPHERAL EQUIPMENT 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 Refer to section 3 3 3 2 b 2 Remove the wirings of the built in regenerative resistor from the closest position to the power connector CNP1 in order Please pay full attention not to break the wirings 3 Remove the screw fixing the built in regenerative resistor and dismount the built in regenerative resistor Note 3 Note Screw size M3 Tightening torque 0 72 Nem 11 13 11 OPTIONS AND PERIPHERAL EQUIPMENT 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 Always remove the lead from across P to D Servo amplifier Regenerative option P P x y C C D x es Note 3 c4 T _Smorless j 44 Note 1 2 Cooling fan Note 1 When using the MR RBSO forcibly cool it with a cooling fan 1 0 m min or more Load ratio 96 100 60 92 mm x 92 mm When the ambient temperature is higher than 55 C and the regenerative
56. The machine resonance suppression filter is a delay factor for the servo system Therefore vibration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration A wider notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration Q The machine characteristic can be grasped beforehand by the machine analyzer on MR Configurator2 This allows the required notch frequency and notch characteristics to be determined If a mechanical system has a natural resonance point increasing the servo system response level may cause the mechanical system to produce resonance vibration or unusual noise at that resonance frequency Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system The setting range is 10 Hz to 4500 Hz 7 SPECIAL ADJUSTMENT FUNCTIONS 1 Function The machine resonance suppression filter is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system You can set the gain decreasing
57. Use motor less operation which is available by making the servo system controller parameter setting Connect the servo amplifier with the servo system controller before the motor less operation 1 Motor less operation Without connecting a servo motor to the servo amplifier output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running This operation may be used to check the servo system controller sequence Use this operation with the forced stop reset Use this operation with the servo amplifier connected to the servo system controller To stop the motor less operation set the motor less operation selection to Disable in the servo parameter setting of the servo system controller When the power supply is turned on next time motor less operation will be disabled a Load conditions loadtorue 9 Load to motor inertia ratio Same as the moment of inertia of the servo motor 4 13 4 STARTUP b Alarms The following alarms and warnings do not occur However 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 1F Encoder initial communication error 3 AL 20 Encoder normal communication error 1 AL 21 Encoder normal communication error 2 AL 25 Absolute posi
58. after the servo motor stops Vibration suppression control 2 Resonance frequency damping after gain switching Set a damping of the resonance frequency for the vibration suppression control 2 for when the gain switching is enabled To enable this setting select 3 inertia mode _ selection in Pr PA24 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode ____ 3 Vibration suppression control 2 tuning mode selection in Pr PBO2 is Manual setting _ 2 y Gain switching selection in Pr PB26 is Control command from controller is enabled _ _ 1 Switching during driving may cause a shock Always switch gain after the servo motor stops Model loop gain after gain switching 0 0 Set the model loop gain for when the gain switching is enabled rad s 2000 0 When you set a value smaller than 1 0 rad s the value will be the same as the value set in Pr PBO7 This parameter will be enabled only when the following conditions are fulfilled Setting range _ 1 of Vibration suppression mode _ 1 of Vibration suppression mode Gain adjustment mode selection in Pr PA08 is Manual mode ___ 3 Gain switching selection in Pr PB26 is Control command from controller is enabled _ _ _ 1 Switching during driving may cause a shock Always switch gain after the servo motor stops 5 PARAMETERS 5 2 3 Exte
59. amp Service Q For the details of the SSCNET III cables contact your local sales office Q 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 The cable is available per 1 m up to 100 m The number of the length 1 to 100 will be in the underscore in the cable model Cable length Can Cable model able length Bending life PPlication and 1mto 100 m m 1mto 100 m 100 m remark SC J3BUS M C 4 to 100 Ultra long Using long distance bending life cable App 14 APPENDIX App 6 Low voltage directive MR JE series servo amplifiers are certificated in compliance with Low voltage directive The following shows a certificate by the Certification Body Zertifikat Certificate S TUVRheinland Zertifikat Nr Certificate No Blatt Page R 50244251 0004 Thr Zeichen Client Reference Unser Zeichen Our Reference Ausstellungsdatum Date of Issue ZO JUN 12311510 007 16 09 2014 day r Genehmigungsinhaber License Holder Fertigungsst tte Manufacturing Plant Mitsubishi Electric Corp Mitsubishi Electric Corp Nagoya Works Nagoya Works 1 14 Yada minami 5 chome 1 14 Yada minami 5 chome Higashi ku Nagoya shi Aichi Higashi ku Nagoya shi Aichi 461 8670 JAPAN 461 8670 JAPAN Priifzeichen Test Mark Gepriift nach Tested ace to Type Approved EN 61800 5 1 2007 sey IEC 61800
60. amplifier Approx 300 MCCB MC L1 L2 OL3 2 D Radio noise filter f Varistor for input power supply recommended Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier When using a varistor connect it between each phase of the input power supply of the equipment For varistors the TND20V 431K and TND20V 471K manufactured by Nippon Chemi Con are recommended For detailed specification and usage of the varistors refer to the manufacturer catalog Maximum ratin Eee Stati 9 limit Ken atie Varistor voltage rating Power Surge capacity range supply Varistor Permissible circuit o Energy Rated pulse reference M mA voltage voltage F A immunity power value immunity 710 TND20V 431K Ke wm 430 387 to 473 1 0 100 Unit mm D H T E oe od Ww Max Max Max 10 im 40 05 41 0 TND20V 431K 6 4 3 3 NDXWANK ns 55 33 4 TNDZVATIK 66 35 Note For special purpose items for lead length L contact the manufacturer 11 42 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 11 Earth leakage current breaker 1 Selection method High frequency chopper currents controlled by pulse width 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 Select an earth leakage cur
61. and compares it with Pr PB13 and Pr PB15 and resets a machine resonance frequency of a parameter whose set value is closer Parameter that is Setting parameter Precaution reset with vibration tough drive function Machine resonance PB01 PB13 PB14 The filter can be set automatically with suppression filter 1 Filter tuning mode selection in Pr PB01 Machine resonance PB15 PB16 suppression filter 2 Machine resonance PB46 PB47 suppression filter 3 Machine resonance PB48 PB49 Enabling the machine resonance suppression filter 4 suppression filter 4 disables the shaft resonance suppression filter Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation The shaft resonance suppression filter is enabled for the initial setting Machine resonance PB50 PB51 Enabling the robust filter disables the suppression filter 5 machine resonance suppression filter 5 The robust filter is disabled for the initial setting Updates the parameter Vibration tough drive j4 whose setting is the closest to the machine resonance frequency Pr PB13 Pr PB15 Pr PB46 Machine Machine Machine Command Command resonance resonance resonance pulse train filter Q suppression suppression suppression filter 1 filter 2 filter 3 Pr PB48 Pr PB50 Pr PB49 Machine Pr PE41 Machine
62. and professional engineers should perform 2 When mounting installing and using the MR JE servo amplifier always observe standards and directives applicable in the country App 4 1 5 Disposal Disposal of unusable or irreparable devices should always occur in accordance with the applicable country specific waste disposal regulations Example European Waste 16 02 14 App 4 1 6 Lithium battery transportation To transport lithium batteries take actions to comply with the instructions and regulations such as the United Nations UN the International Civil Aviation Organization ICAO and the International Maritime Organization IMO The batteries MR BAT6V1SET A and MR BAT6V1 are assembled batteries from two batteries lithium metal battery CR17335A which are not subject to the dangerous goods Class 9 of the UN Recommendations App 7 APPENDIX App 4 2 Mounting dismounting Installation direction and clearances Q The devices must be installed in the specified direction Not doing so may cause a malfunction NCAUTION Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2 Cabinet Top Cabinet 77 GG 40 mm or more 80 mm or longer for wiring 10 mm A A m Servo amplifier or more EL or more c o Z o oO 40 mm or more l 7 Bottom A App 8 APPENDIX App 4 3 Electrical Installation and configura
63. axis display No alarm X E71 X AA servo amplifier lt i d and later Deceleration to a stop Servo motor l speed l l O0 rimin a 3 SIGNALS AND WIRING 3 When the power of the second axis servo amplifier is turned off Hot line alarm signal from the servo amplifier whose power is turned o Hot line forced stop signal from the controller The first axis servo amplifier lt The second axis servo amplifier the servo lt amplifier whose power is turned off The third axis servo amplifier lt and later Signal ff No signal ON OFF Input power ON supply OFF Servo amplifier display No alarm Servo motor speed V Omit E Input power ON m Power on duration supply OFF l Servo amplifier T display No alarm xX Blank i Servo motor i Stop with dynamic brake speed Ormin j Input power ON l supply OFF i I Servo amplifier 000 noame X awa display No alarm AA 1 l Deceleration Servo motor to a stop i speed l EE 0 r min 3 SIGNALS AND WIRING 4 When power supplies of all servo amplifiers are turned off Hot line alarm signal from Signal the servo amplifier whose power is turned off No signal Hot line forced stop signal ON from the controller OFF uae H Supply OFF I I l Servo amplifier i All servo display fi amplifiers lt l
64. be estimated Q Execute the one touch tuning while the servo system controller and the servo amplifier are connected Q When executing the one touch tuning in the test operation mode write the tuning result to servo parameters of the servo system controller and then connect the servo system controller and the servo amplifier Q The amplifier command method can be used with the servo amplifier with software version C1 or later and MR Configurator2 with software version 1 45X or later Q When the one touch tuning is executed MR Configurator2 is required The one touch tuning includes two methods the user command method and the amplifier command method 1 User command method The user command method performs one touch tuning by inputting commands from outside the servo amplifier 2 Amplifier command method In the amplifier command method when you simply input a travel distance permissible travel distance that collision against the equipment does not occur during servo motor driving a command for the optimum tuning will be generated inside the servo amplifier to perform one touch tuning Movable range i gt l Permissible Permissible l i travel distance travel distance Limit switch f Limit switch zu T pe M l 1 l l SS SSR VAN e SRS i Servo motor Tuning start ms Movable range at tuning 6 NORMAL GAIN ADJUSTMENT The
65. by side or do not bundle them together Separate power lines from signal cables Use a shielded twisted pair cable for connection with the encoder and for control signal transmission and connect the external conductor of the cable to the SD terminal Ground the servo amplifier servo motor etc together at one point Refer to section 3 11 b Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources such as a magnetic contactor an electromagnetic brake and many relays which make a large amount of noise near the servo amplifier and the servo amplifier may malfunction the following countermeasures are required Provide surge killers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings Although a surge absorber is built into the servo amplifier to protect the servo amplifier and other equipment against large exogenous noise and lightning surge attaching a varistor to the power input section of the equipment is recommended c Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits input and output circuits those induced electromagnetically
66. can become hot 11 30 11 OPTIONS AND PERIPHERAL EQUIPMENT 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 Nem QG When assembling the case be careful not to get the lead wires caught in the fitting parts or the screwing parts i TU XN Threads d Precautions for removal of battery The connector attached to the MR BAT6V1 battery has the lock release lever When removing the connector pull out the connector while pressing the lock release lever 3 Battery cable removal Pulling out the connector of the MR BT6V1CBL and MR BT6V2CBL without the NCAUTION lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the MR BT6V1CBL or MR BT6V2CBL Pull out the connector in the same procedure as that of the MR BAT6V1SET A Refer to section 11 5 2 3 b 11 31 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 5 4 MR BAT6V1 battery The MR BAT6V1 battery is used for a backup of the MR BAT6V1SET A and MR BAT6V1SET and built in the MR BT6VCASE Always store the MR BAT6V1 in a case when using it The year and month of manufacture of the MR BAT6V1 battery are described on the rating plate put on an
67. circuit breakers in the table are selected examples based on rated IO of the servo amplifiers When you select a smaller capacity servo motor to connect it to the servo amplifier you can also use smaller capacity T class fuses or molded case circuit breaker than ones in the table For selecting ones other than Class T fuses and molded case circuit breakers below refer to section 11 7 Servo amplifier Note Molded case circuit breaker 240 V AC Fuse 300 V MR JE 10 MR JE 20 MR JE 40 MR JE 70 T NF50 SWU 5A 50 A frame 5 A MR JE 70_ S MR JE 100_ T NF50 SWU 10A 50 A frame 10 A MR JE 200 T MR JE 300_ NF50 SWU 15A 50 A frame 15 A MR JE 100 S NF50 SVFU 15A 50 A frame 15 A MR JE 200 S NF50 SVFU 20A 50 A frame 20 A Note S means 1 phase 200 V AC power input and T means 3 phase 200 V AC power input in the table c Power supply This servo amplifier can be supplied from star connected supply with grounded neutral point of overvoltage category III set forth in IEC EN 60664 1 However when you use the neutral point for single phase supply a reinforced insulating transformer is required in the power input section For the interface power supply use an external 24 V DC power supply with reinforced insulation on UO terminals d Grounding To prevent an electric shock always connect the protective earth PE terminal marked of the servo amplifier to the protective earth PE of the cabinet Do not connect two gro
68. cleared Servo system controller power on Note 1 iol 1 ik The segment of the last 2 digits shows the axis number Axis Axis Axis No 1 No 2 No 16 4 STARTUP 2 Indication list Q Refer to section 1 6 of MELSERVO JE Servo Amplifier Instruction Manual Troubleshooting for troubleshooting at startup Initializing System check in progress The servo amplifier power was switched on when the servo system controller power was off The control axis No set to the axis selection rotary switch SW1 does not match the one set to the servo system controller Ab Initializing Aservo amplifier malfunctioned or communication error occurred with the servo System controller or the previous axis servo amplifier In this case the indication changes as follows Ab AC Ad and Ab The servo system controller is malfunctioning A b Initializing During an initial setting for communication specifications Initializin An initial setting for communication specifications is completed and then it 9 synchronized with the servo system controller Initializing During initial parameter setting communication with the servo system controller During the servo motor and encoder information and telecommunication with the Servo system controller Initializing During initial signal data communication with the servo system controller TEE The process for initial data com
69. delay filter to each gain at gain switching This parameter is used to suppress shock given to the machine if the gain difference is large at gain switching for example 7 15 7 SPECIAL ADJUSTMENT FUNCTIONS 2 Switchable gain parameter Before switching After switching after gain switching switching gain switching switching Loop gain Speed integral compensation Vibration suppression control 1 Vibration frequency Vibration suppression control 1 Resonance frequency Vibration suppression control 1 Vibration frequency damping Vibration suppression control 1 Resonance frequency damping Vibration suppression control 2 Vibration frequency Vibration suppression control 2 Resonance frequency Vibration suppression control 2 Vibration frequency damping Vibration suppression control 2 Resonance frequency damping PB19 Speed integral compensation Vibration suppression control 1 Vibration frequency Vibration suppression control 1 Resonance frequency Vibration suppression control 1 Vibration frequency damping Vibration suppression control 1 Resonance frequency damping Vibration suppression control 2 Vibration frequency Vibration suppression control 2 Resonance frequency Vibration suppression control 2 Vibration frequency damping Vibration suppression control 2 Resonance frequency damping 7 16 Speed integral compensation after gain sw
70. dide a se nadie nadie aN a 2 7 3 1 Input power supply circuit eee cece cece cece cece eeeeee ce ts eect cece eeaeeeeeeeeeeeeseaaaeaeeeeeeesesceaeaeeeeeeeseteeciseeeeeeeeeees 3 2 3 2 VO signal connection example 1 5 ob etti a EE bent eo te pee Den HERR M e deed dE 3 11 3 2 1 For sink l O interface 1 fs eit edo t Ernte ipu eit hick dee TRE 3 11 3 2 2 For source I O interface orte ee tette e dioere A e ab ee oes iue re dee tn bau tula 3 12 3 3 Explanation of power supply system sssssssssssssssseemereeeneneneerre eterne teen nenne 3 13 3139 1 Signal explanations 2 ede te ide cine deanna anne ees 3 13 3 3 2 Power on sequerice nene eet de fett ber REIR ert dete 3 14 3 39 39 Wiring GNP 1 and CN BEE HEP RB 3 15 3 4 Connectors and pii assignment oeseri eto itte etd e ett eet he ai coud obo eh 3 17 3 5 Signal device explanations i utei e ettet ied eth te ite te e e Ft aed 3 18 3 5 1 Input device s t ettet tete ette nm lee etes ter ae etie re tds 3 18 Ee eeler 3 19 3 5 9 Power Supply aet Ree a E a o eee ken pa dedo obe eod de etu eate decns 3 20 3 6 Forced stop deceleration function sss rennen enne nnen nnne 3 21 3 6 1 Forced stop deceleration Tunchon eene ener nnns 3 21 3 6 2 Base circuit shut off delay time function sssssssssseee eme 3 22 3 6 3 Vertical axis freefall prevention function eene 3 23 3 6 4 Residual risks of the forced stop function
71. eun a ee ela dae e ee esu 8 2 9 9 Warming listo eite Ret e a bee cd reef o n Ee esee ptt E e pet deett eee d ope rtu 8 6 9 DIMENSIONS 9 1 to 9 4 9 1 ene ET 9 1 9 2 GOD ClOr io itecto meu Site dote de eebe desee re ege s Ete 9 4 10 CHARACTERISTICS 10 1 to 10 8 10 1 Overload protection characteristics ssssssssssssssseeneen nemen 10 1 10 2 Power supply capacity and generated Joes eene 10 3 10 3 Dynamic brake characteristics cc cccceeeeeeeeeeeeeeenneeeeeeaeeeeeeaeeeeeeaeeeseeaeeeseeaeeeseenaeeeeeseteeeseaas 10 5 10 3 1 Dynamic brake operation 2 edd ENEE cec ee eer tene a ed ree ad gen teeter 10 5 10 3 2 Permissible load to motor inertia when the dynamic brake is use 10 6 19 4 Coble bending EE 10 7 10 5 Inrushicurrent at e BEE 10 7 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 1 to 11 48 11 1 Cable connector sets ete eate n aie edge e edi eee e edd dete dv neu Ae 11 1 11 1 1 Combinations of cable connector seis 11 2 TTZ SSGNET III cable i a ie ate nid el ee ee 11 5 11 1 3 Battery cable and junction battery cable sss eene 11 7 11 2 Regerierative Open e pere Hr ret ehe EE M Rin AREE ERER RAT RASSE HEAT See 11 8 11 2 1 Combination and regenerative DOower mener 11 8 11 2 2 Selection of regenerative option ssssssssesseeeene eene ennemi 11 9 11 2 3 Parameter Setting eet 11 10 11 2 4 Connection of regenerative option 11 11 T1 2 9 DIMENSIONS oi x
72. following parameters are set automatically with one touch tuning Also Gain adjustment mode selection in Pr PA08 will be 2 gain adjustment mode2 4 automatically Other parameters will be set to an optimum value depending on the setting of Pr PAO9 Auto tuning response Table 6 1 List of parameters automatically set with one touch tuning Symbol Symbol PA08 Auto tuning mode PB18 Low pass filter setting eis unn Vibration suppression control 1 Vibration frequency e Vibration suppression control tuning PB02 VRFT mode advanced vibration suppression Resonance frequency control II gen VRF13 Vibration suppression control 1 Vibration frequency damping PBO Model loop gain pags VRrF44 Vibration suppression control 1 PB08 Position loop gain Resonance frequency damping PB09 VG2 Speed loop gain PB23 VFBF Low pass filter selection 6 NORMAL GAIN ADJUSTMENT 6 2 1 One touch tuning flowchart 1 User command method Make one touch tuning as follows Startup of the system Start a system referring to chapter 4 Rotate the servo motor by a servo system controller In the user command method the one Operation touch tuning cannot be executed if the servo motor is not operating One touch tuning start Start one touch tuning of MR Configurator2 and select User command method mode selection Select a response mode High mode Basic mode and Low mode in the one t
73. in Pr PAO3 to enable the absolute position detection system Pr PA03 1 Absolute position detection system selection 0 Disabled used in incremental system 1 Enabled used in absolute position detection system 12 1 4 Confirmation of absolute position detection data You can check the absolute position data with MR Configurator2 Choose Monitor and ABS Data Display to open the absolute position data display screen ABS Data Display Absolute position data ABS position VF data to send and receive between servo system controller and servo amplifier is displayed Value of each motor edge pulse Value of each command pulse 28948316 28948316 Encoder data Amp val Home position Absolute encoder data Absolute encoder data at home position CYC Command pulse value CYCO Command pulse value 107423 pulse 0 pulse Number of motor rotations Number of motor rotations at home position ABS ABSO 239 rey DI rev 12 2 12 ABSOLUTE POSITION DETECTION SYSTEM 12 2 Battery 12 2 1 Using the MR BAT6V1SET A battery 1 Configuration diagram Servo system controller Servo amplifier ear EIL o pci A D Position data Current position Home position data LS CYC Speed control Position control S Detecting the Detecting the ERES LSO ES Step down number of position at CYCO circuit rev
74. min Set the stop interval during operation to 200 ms or more Error is less likely to occur as the setting time is longer Drive the motor with meeting conditions as follows The acceleration time constant deceleration time constant to reach 2000 r min is 5 s or less Speed is 150 r min or higher The load to motor inertia ratio is 100 times or less The acceleration deceleration torque is 1096 or more of the rated torque Set to the auto tuning mode that does not estimate the load to motor inertia ratio as follows and then execute the one touch tuning Select Auto tuning mode 2 ___ 2 Manual mode __ _ 3 or 2 gain adjustment mode 2 __ _ 4 of Gain adjustment mode selection in Pr PAOS Manually set Pr PBO6 Load to motor inertia ratio properly 6 NORMAL GAIN ADJUSTMENT Display Error detail Corrective action example Amplifier command start One touch tuning was attempted to start in Execute the one touch tuning in the amplifier the amplifier command method under the command method while the servo motor is following speed condition stopped Servo motor speed 20 r min or higher Amplifier command One touch tuning was executed in the Set a permissible travel distance to 100 generation error amplifier command method when the pulses or more in the encoder pulse unit or a permissible travel distance is set to 100 distance so as to increase the servo motor pulses or less in the encoder pulse un
75. min for this servo amplifier 3 19 3 SIGNALS AND WIRING Symbol Function and application Limiting torque 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 Warning WNG When a warning has occurred WNG turns on When a warning is not occurring turning on the power will turn off WNG after 2 5 s to 3 5 s Battery warning BWNG BWNG turns on when AL 92 Battery cable disconnection warning or AL 9F Battery warning has occurred When the battery warning is not occurring turning on the power will turn off BWNG after 2 5sto 3 5s selection Absolute position ABSV ABSV turns on when the absolute position is undetermined undetermined The device cannot be used in the speed control mode and torque control mode drive will turn on MTTR 3 5 3 Power supply Connector Signal name pin Function and application number Digital UE power DICOM CN3 10 Input 24 V DC 24 V DC 10 100 mA for I O interface The power supply capacity supply input changes depending on the number of UO interface points to be used For sink interface connect of 24 V DC external power supply For source interface connect of 24 V DC external power supply Digital I F common DOCOM CN3 3 Common terminal of input signal such as EM2 of the servo amplifier This terminal is separated from LG For sink in
76. of MR Configurator2 Pr PA23 2 You are using the machine analyzer function 3 Pr PF21 is set to 1 4 5 Drive recorder function The controller is not connected except the test operation mode An alarm related to the controller is occurring You can check the cumulative energization time and the number of on off times of the Servo amplifier life diagnosis inrush relay This function gives an indication of the replacement time for parts of the function 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 Power monitoring function 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 Machine diagnosis function This function allows smooth switching of the mode from the position control mode or Pr PBO3 speed control mode to the torque control mode without stopping This function eliminate
77. off It is the same as 1 d of this section e Ready off command from controller It is the same as 1 e in this section 3 SIGNALS AND WIRING 3 11 Grounding Ground the servo amplifier and servo motor securely NWARN NG 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 The servo amplifier switches the power transistor on off to supply power to the servo motor Depending on the wiring and ground cable routing the servo amplifier may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Cabinet Servo amplifier Servo motor MCCB MC Note e Gg e Power x L2 supply E l x 3 4 L3 E 25 SE oc zg Ensure to connect the wire to 3 the PE terminal of the servo amplifier Do not connect the wire directly to the grounding of the cabinet oo Outer Protective earth P xs Note For the power supply specifications refer to section 1 3 4 STARTUP 4 STARTUP d WARNING Q Do not operate the switches with wet hands Otherwise it may cause an electric shock Q Before starting ope
78. operation of Disabled electromagnetic Ba brake Enabled 2 Adjustment Set the freefall prevention compensation amount in Pr PC31 While the servo motor is stopped turn off the EM2 Forced stop 2 Adjust the base circuit shut off delay time in Pr PCO2 in accordance with the travel distance Pr PC31 Adjust it considering the freefall prevention compensation amount by checking the servo motor speed torque ripple etc 3 6 4 Residual risks of the forced stop function EM2 1 The forced stop function is not activated by alarms that activate the dynamic brake when the alarms occur 2 When an alarm that activates the dynamic brake during forced stop deceleration occurs the braking distance until the servo motor stops will be longer than that of normal forced stop deceleration without the dynamic brake 3 SIGNALS AND WIRING 3 7 Alarm occurrence timing chart When an alarm has occurred remove its cause make sure that the operation NCAUTION signal is not being input ensure safety and reset the alarm before restarting operation Qn the torque control mode the forced stop deceleration function cannot be used To deactivate the alarm cycle the power or give the error reset or CPU reset command from the servo system controller However the alarm cannot be deactivated unless its cause is removed 3 7 1 When you use the forced stop deceleration function To enable the function set 2 initial va
79. operation of the servo motor i i ifi alone in JOG operation of test In this step PODIUM that the SEM amplifier and servo metor operate operation mode normally With the servo motor disconnected from the machine use the test operation mode and check whether the servo motor rotates correctly Refer to section 4 5 for the test operation mode Test operation of the servo motor In this step confirm that the servo motor rotates correctly under the alone by commands commands from the controller Give a low speed command first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal v Test operation with the servo motor In this step connect the servo motor with the machine and confirm that the EE machine operates normally under the commands from the controller Give a low speed command first and check the operation direction etc of the machine If the machine does not operate in the intended direction check the input signal Check any problems with the servo motor speed load ratio and other status display items with MR Configurator2 Then check automatic operation with the program of the controller 4 5 Test operation mode Q The test operation mode is designed for checking servo operation It is not for checking machine operation Do not use this mode with the machine Always use Z CAUTION the servo motor alone Qf t
80. or statically by the signal cables of the peripheral equipment located near the main circuit cables and those transmitted through the power supply cables GE Noises transmitted in the air Noise radiated directly from servo amplifier j Route 1 Noise radiated from the power supply cable je Route 2 Noise radiated from servo motor cable Route 3 z Magnetic induction noise Routes 4 and 5 s Static induction noise Nf Nc Route 6 Noises transmitted through electric channels J Noise transmitted through power supply cable je Route 7 Noise sneaking from grounding cable due to leakage current Route 8 11 37 11 OPTIONS AND PERIPHERAL EQUIPMENT H 1 Servo Y amplifier Instrument Receiver boe Servo motor Noise transmission e toute Suppression techniques When measuring instruments receivers sensors etc which handle weak signals and may malfunction due to noise and or their signal cables are contained in a cabinet together with the servo amplifier or run near the servo amplifier such devices may malfunction due to noises transmitted through the air The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 1 2 3 2 Provide maximum clearance between e
81. parameter Automatic setting PB52 PB53 PB54 PB55 Manual setting Bee 7 SPECIAL ADJUSTMENT FUNCTIONS 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 PBO2 to execute the vibration suppression control tuning Vibration suppression control uning Operation Is the target response reached Increase the response setting Has vibration of workpiece end device increased Stop operation Sa Execute or re execute vibration suppression control tuning Set Pr PB02 to ___ 1 Resume operation Tuning ends automatically after positioning operation is performed the predetermined number of times Pr PBO2 will be _ 2 or 0 Has vibration of workpiece end device been resolved Yes Decrease the response until vibration of workpiece end device is resolved Using a machine analyzer or considering load side vibration waveform set the vibration suppression control manually End Factor Estimation cannot be made as load side vibration has not been transmitted to the servo motor side The response of the model loop gain has increased to the load side vibration frequency vibration suppression control limit 7 SPECIAL ADJUSTMENT FUNCTIONS 4 Vibration suppres
82. series Radio noise filter Mitsubishi Electric FR BIF MR JE Series are not intended to be used on a low voltage public network which supplies domestic premises radio frequency interference is expected if used on such a network The installer shall provide a guide for Installation and use including recommended mitigation devices For Declaration of Conformity DoC Hereby MITSUBISHI ELECTRIC EUROPE B V declares that the servo amplifiers are in compliance with the necessary requirements and standards 2004 108 EC and 2006 95 EC For the copy of Declaration of Conformity contact your local sales office 3 USA Canada compliance This servo amplifier is designed in compliance with UL 508C and CSA C22 2 No 14 a Installation The minimum cabinet size is 150 of MR JE servo amplifier s volume Also design the cabinet so that the ambient temperature in the cabinet is 55 C or less The servo amplifier must be installed in the metal cabinet Additionally mount the servo amplifier on a cabinet that the protective earth based on the standard of IEC EN 60204 1 is correctly connected For environment the units should be used in open type UL 50 and overvoltage category shown in table in section 8 1 The servo amplifier needs to be installed at or below of pollution degree 2 For connection use copper wires b Short circuit current rating SCCR Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amper
83. servo amplifier If one touch tuning is executed while commands which do not meet the conditions are inputted to the servo amplifier the one touch tuning error may occur One cycle time Travel distance Forward Servo motor Otation speed 0 r min Reverse iC i rotation Acceleration Deceleration time constant time constant Fig 6 1 Recommended command for one touch tuning in the user command method Set 100 pulses or more in encoder unit Setting less than 100 pulses will cause the one touch tuning error Travel distance C004 Servo motor speed Set 150 r min or higher Setting less than150 r min may cause the one touch tuning error C005 Set the time to reach 2000 r min to 5 s or less Set an acceleration time constant deceleration time constant so that the acceleration deceleration torque is 1096 or more of the rated torque The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration deceleration torque is larger and the one touch tuning result will be closer to the optimum value Acceleration time constant Deceleration time constant Dwell time Set 200 ms or more Setting a smaller value may cause the one touch tuning error C004 One cycle time Set 30 s or less Setting over 30 s will cause the one touch tuning error C004 6 NORMAL GAIN ADJUSTMENT b Amplifier command method Input a permissible travel distance Input it in the servo motor side
84. servo amplifier Otherwise it may cause a malfunction Q Do not drop or strike the servo amplifier and servo motor Isolate them from all impact loads Q When you keep or use the equipment please fulfill the following environment Item Environment Ambient Operation 0 C to 55 C non freezing temperature Storage 20 C to 65 C non freezing o ti Ambient Lut 90 RH or less non condensing 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 s at 10 Hz to 55 Hz directions of X Y and Z axes QG When the product has been stored for an extended period of time contact your local sales office Q When handling the servo amplifier be careful about the edged parts such as corners of the servo amplifier CAUTION Q The servo amplifier must be installed in a metal cabinet QG 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 A CAUTION Q Before removin
85. servo motor you use and the load to motor inertia ratio The disabled setting increases the response of the servo amplifier for high resonance frequency Parameter ES Set Shaft resonance suppression filter selection in Pr PB23 Pr PB23 L Shaft resonance suppression filter selection 0 Automatic setting 1 Manual setting 2 Disabled To set Pr PB17 Shaft resonance suppression filter automatically select Automatic setting To set Pr PB17 Shaft resonance suppression filter manually select Manual setting The setting values are as follows Shaft resonance suppression filter setting frequency selection Setting Setting oo Disabled Disabled 4500 7 SPECIAL ADJUSTMENT FUNCTIONS 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 The filter frequency of the low pass filter is automatically adjusted to the value in the following equation VG2 1 Gp2 10 Filter frequency rad s However when an automatically adjusted value is smaller than VG2 the filter frequency will be the VG2 value To set Pr PB18 manually select Manual setting 1 _ of Low pass filter selection in Pr PB23 Parameter Set Low pass filter selection in Pr PB23 Pr PB23 d Low p
86. the cabinet 2 INSTALLATION 2 3 Encoder cable stress 1 The way of clamping the cable must be fully examined so that bending stress and cable s own weight stress are not applied to the cable connection 2 For use in any application where the servo motor moves fix the cables encoder power supply and brake with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part Use the optional encoder cable within the bending life range Use the power supply and brake wiring cables within the bending life of the cables 3 Avoid any probability that the cable sheath might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles B For installation on a machine where the servo motor moves the flexing radius should be made as large as possible Refer to section 10 4 for the bending life 2 4 SSCNET III cable laying The SSCNET III cable is made from optical fiber If power such as a major shock lateral pressure haul sudden bending or twist is applied to the optical fiber its inside distorts or breaks and optical transmission will not be available Especially as the optical fiber for MR JBBUS M MR J3BUS M A is made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touch the part that can become hot such as heat sink or regenerative option of the servo amplifier Read describ
87. to 240 V AC power supply of MR JE 10B to MR JE 100B Qe For MR JE B servo amplifiers the hot line forced stop function is enabled at factory setting For MR J4 B servo amplifiers the hot line forced stop function is disabled at factory setting Qf an alarm occurs the hot line forced stop function outputs hot line forced stop signals to all servo amplifiers before a communication to the controller is cut Then servo amplifiers will be in the AL E7 1 Controller forced stop warning state and will decelerate to a stop Q The hot line forced stop function can be disabled with Pr PA27 Q Configure the power supply circuit which turns off magnetic contactors of all servo amplifiers after detection of alarm occurrence on the controller side at alarm occurrence Q Connect the 1 phase 200 V AC to 240 V AC power supply to L1 and L3 One of the connecting destinations is different from MR JE 200B Servo Amplifier s Ties e i4 Emergency stop switch m SK E REM Note 5 Alarm Servo amplifier Servo motor MCCB MC Note8 CNP1 E 1 phase Se El Bails i Note 4 7 Esch 200 V AC to i SS E U 240 V AC i i regenerative Motor resistor 5 Xi oi 9 L3 V oO V Note 1 9 P W o gt w l psi NNNM e e Note 7 Note 2 CN2 ote Encoder cable SEH Note 6
88. 000 Pcro gt For manufacturers ini d 5 PARAMETERS DES value PC21 Alarm history clear 0000 For manufacturer setting 9 PC24 RSBR Forced stop deceleration time constant i For manufacturer setting PC29 COPB Function selection C B 0000h PC30 m For manufacturer setting La PC31 RSUP1 Vertical axis freefall prevention compensation amount o 0 0001 rev For manufacturer setting o 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h v U OJO RIB aj A U QO K o U U its SIb oo N DH O iR e DH Q e I pe CH 2 D e oa R v U ite ajo a a D Q e ES v U O10 aja co DH Q D I DH Q o O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h O000h 0000h 5 PARAMETERS 5 1 4 I O setting parameters Pr PD PDO7 Output device selection 1 0005h For manufacturer setting 0000h m CS Poo FormanWaduerseting 0000 0004 PDi2 For manufacturers O 0000 0000 0000h For manufacturer setting 0000h 0000h 0000h 0000h 0000h MUI
89. 14 dB 8 dB 4 dB Notch width selection Oh O a 2 1 a 3 2 a 4 3 275 h For manufacturer setting PB15 NH2 Machine resonance suppression filter 2 4500 Set the notch frequency of the machine resonance suppression filter 2 Hz To enable the setting value select Enabled 1 of Machine resonance suppression filter 2 selection in Pr PB16 PB16 NHQ2 Notch shape selection 2 Refer to the Set forms of the machine resonance suppression filter 2 Name and function column Setting F Initial 1 Enabled 0 Disabled Notch width selection 0 272 1 a 3 2 a 4 3 a 5 For manufacturer setting Machine resonance suppression filter 2 selection Notch depth selection Oh 40 dB 14 dB 8 dB 4 dB 5 PARAMETERS No PB17 Symbol NHF LPF Initial Setting Name and function value range unit Shaft resonance suppression filter Refer to the Set the shaft resonance suppression filter Name and Use this parameter to suppress a low frequency machine vibration function column When you select Automatic setting O of Shaft resonance suppression filter selection in Pr PB23 the value will be calculated automatically from the servo motor you use and load to motor inertia ratio Set this parameter manually when Manual setting 1 is selected When Shaft resonance suppression filter selection is Disabled _ 2 in Pr PB23 the setting value of this parameter will be disabled
90. 2 Error excessive Forced stop error a o Co USB communication time out USB communication time out error serial communication time out error Modbus RTU communication time out error error serial communication time out error Modbus RTU communication time 8A 2 out error USB communication receive error serial communication receive error DEI USB communication checksum error serial communication checksum error 8E 2 USB communication character error serial communication character error 8E 3 USB communication error serial communication error Modbus RTU communication error USB communication command error serial communication command error 8E 4 USB communication data number error serial communication data number error Modbus RTU communication receive error message frame error error Watchdog DES 8E 6 N oo m OO oo Watchdog Stop method Note 2 3 SD SD SD SD SD SD SD SD SD Alarm deactivation DNDN o O O O O O O O O qt 1 noi n DNDN o O O O Note 1 Note 1 Note 1 O O O Note 1 Note 1 Note 1 O O O Note 1 Note 1 Note 1 O O O Note 1 Note 1 Note 1 Oo Oo O Note 1 Note 1 Note 1 O O O Note 1 Note 1 Note 1 O O O Note 1 Note 1 Note 1 O O O pute nowe nle a o o 96 BEEN CON ojojo o 9 5 oloto o o o o joo o no ol o o o
91. 4 App 1 Peripheral equipment manufacturer for reierence App 1 App 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous GoodS eene nennen nnne App 1 App 3 Symbol for the new EU Battery Directive enn App 3 App 4 Compliance with global standards sssssssssesssssese eene App 3 App 5 SSCNET III cable SC J3BUS M C manufactured by Mitsubishi Electric System amp SONICO ceu E te sr MM TA AE mu Deg App 14 App 5 Low voltage directive TEE App 15 App 7 App 8 App 9 When turning on or off the input power supply with DC power supply When using the hot line forced stop function in combination with MR J4 B servo amplifier sssss Optional data monitor function MEMO 1 FUNCTIONS AND CONFIGURATION 1 FUNCTIONS AND CONFIGURATION 1 1 Summary POINT Q 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 high speed 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 t
92. 5 Pr PB50 and Pr PB51 To use this filter select Enabled __ 1 of Machine resonance suppression filter 5 selection in Pr PB51 However enabling the robust filter Pr PE41 _ 1 disables the machine resonance suppression filter 5 How to set the machine resonance suppression filter 5 Pr PB50 and Pr PB51 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 7 SPECIAL ADJUSTMENT FUNCTIONS 7 1 2 Adaptive filter II Q The machine resonance frequency which adaptive 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 Q When adaptive tuning is executed vibration sound increases as an excitation signal is forcibly applied for several seconds Q When adaptive tuning is executed machine resonance is detected for a maximum of 10 seconds and a filter is generated After filter generation the adaptive tuning mode automatically shifts to the manual setting Adaptive tuning generates the optimum filter with the currently set control gains If vibration occurs when the response setting is increased execute adaptive tuning again During adaptive tuning a filter having the best notch depth at the set control gain is generated To allow a filter margin against machine resonance increase the notch depth in the manual setting Adaptive vibration suppression control may provide no effect on a mechanical
93. 5 1 2907 Regular Production Surveilance T VRheinland CERTIIED Www trv com IO 2000000020 Zertifiziertes Produkt Ger teidentifikation Lizenzentgelte Einheit Certified Product Product Identification License Fee Unit Control Unit Servo Drive Unit as page 0001 Addition for Type Dedignation MR JE uvw xyz Value for suffix v B BS see Appendix 1 1 1 ANLAGE Appendix 1 1 E Dem Zertifikat liegt unsere Pr f und Zertifizerungsordaung zugrunde und es best tigt die Korformili our ke des Produk es mit den aben genannten Standards und Priifgrandlagen Zusdteliche Anforderungen in Lardern in denen das Produkt in Verkehr gebracht werden soll m ssen zus tzlich Zertifizierungsstelle betrachtet werden Die Herstellung des zertifizierten Produktes wird berwacht This certificate is based on our Testing and Certification Regulation and states the conformity of the product with the standards and testing requirements as indicated ahave Any cdditional requiremen s in countries where the product is going to be mcrketed have to be considered additionally The manufacturing cf the certified productis subject to surveillance T Y Rheinland LGA Products GmbH TillystraBe 2 90431 Nii Tel 49 2218 06 13 71 e mail cert validity amp de tuv com Fax 49 221 8 06 3935 http www tuv com safety VOR TUS TOR n T Wo H Refer to section 1 6 2 for the models shown in see Appendix 1 1 App
94. 67 is set the function will be switched to the drive recorder function after the set time However when 0 is set the function will be switched to the drive recorder function after 600 s When 1 is set the drive recorder function is disabled Vibration tough drive Oscillation detection level 50 0 to 100 Set filter readjustment sensitivity levels of Pr PB13 Machine resonance suppression filter 1 76 and Pr PB15 Machine resonance suppression filter 2 while the vibration tough drive is enabled However setting 0 will be 50 Example When you set 50 in the parameter the filter will be readjusted at the time of 5096 or higher oscillation level Vibration tough drive function selection Refer to the Name and ees value Oscillation detection alarm selection 0 AL 54 Oscillation detection will occur at oscillation detection 1 AL F3 1 Oscillation detection warning will occur at oscillation detection 2 Oscillation detection function is disabled Select whether to generate an alarm or a warning when an oscillation continues at a filter readjustment sensitivity level of Pr PF23 The digit is continuously enabled regardless of the vibration tough drive in Pr PA20 For manufacturer setting X 5 PARAMETERS Initial Setti No Symbol Name and function value ing uni 209 PF25 CHAT Instantaneous power failure tough drive Detection time 30 to Set the time until the occurrence of AL 10 1 Vo
95. 7 years to 8 years Absolute position battery Refer to section 12 2 1 Smoothing capacitor The characteristic of a smoothing capacitor is deteriorated due to ripple currents etc The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditioned environment 40 C surrounding air temperature or lower Relays Contact faults will occur due to contact wear arisen from switching currents Relays will reach the end of their lives depending on their power supply capacity when the number of power on times number of forced stop times by EM1 Forced stop 1 and number of controller forced stop times are 100 000 times in total Servo amplifier cooling fan The cooling fan bearings reach the end of their lives in 50 000 hours to 70 000 hours Normally therefore the cooling fan must be replaced in a few years of continuous operation as a guideline It must also be changed if unusual noise or vibration is found during inspection The life indicates under the yearly average ambient temperature of 40 C free from corrosive gas flammable gas oil mist dust and dirt 2 INSTALLATION MEMO 3 SIGNALS AND WIRING 3 SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work QG Before wiring turn off the power and wait for 15 minutes or more until the ch
96. AC to 240 V AC power supply of MR JE 10B to MR JE 100B Servo amplifier MCCB MC pes Note C uem eee ga 1 phase 1 gS iY 200 V AC to 240 V AC HON L2 I x lo 0T iZ L3 Note Connect the power supply to L1 and L3 Leave L2 open c For 1 phase 200 V AC to 240 V AC power supply of MR JE 200B Servo amplifier MCCB ieee Note Pasch d nass Gg Kg L1 200 V AC to 240 V AC x S Y oin E 7 Qus Note Connect the power supply to L1 and L2 Leave L3 open 11 35 11 OPTIONS AND PERIPHERAL EQUIPMENT 2 Dimensions Terminal layout R x s v T z 4 d mounting hole Varnish is removed from front right mounting hole face and back side Note 1 D or less 9 i Ei l WM Wi D2 Max W Note 2 N D1 Fig 11 1 Power factor Dimensions mm Terminal Mass Servo amplifier improving AC Dimensions w Ww H D2 eins k reactor kg MR JE 10B MRJE 208 FR HALOK oa 84 99 Pao ws ma 06 304 Lais a m wl 304 feao MR JE 100B 115 3 phase power supply input PRHAL 22K Note 3 Ee ST Fig 14 45 phase power supply inpu MR JE 200B FR HAL 3 7K Note 3 40 115 3 phase power supply input MR JE 200B 115 1 phase power supply input FR HAL 5 5K Note 3 40 115 MR JE 300B Note 1 Use this for grou
97. ALS AND WIRING 3 5 Signal device explanations For the I O interfaces symbols in I O division column in the table refer to section 3 8 2 The pin numbers in the connector pin number column are those in the initial status 3 5 1 Input device Forced stop 2 CN3 20 with commands state Not using EM2 or Not using EM2 or state Forced stop 1 CN3 20 3 18 Function and application Set Pr PA04 to 21_ to disable EM2 The following shows the setting of Pr PA04 Turn off EM2 open between commons to decelerate the servo motor to a stop Turn EM2 on short between commons in the forced stop state to reset that Deceleration method MBR Electromagnetic brake interlock turns off without the forced stop deceleration MBR Electromagnetic brake interlock turns off after the forced stop deceleration EM2 and EM1 are mutually exclusive Note that EM2 has the same function as EM1 in the torque control mode When using EMT set Pr PA04 to 0 O to enable EM1 Turn EM1 off open between commons to bring the motor to a forced stop state The base circuit is shut off and the dynamic brake is operated and decelerates the servo motor to a stop Turn EM1 on short between commons in the forced stop state to reset that Set Pr PA04 to O 1 _ to disable EM1 Pr PA04 EM2 EM1 setting EM2 or EM1 is off MBR Electromagnetic brake interlock turns off without the forced stop deceleration
98. CNP1 connector from MR JE 40B to MR JE 100B disconnect the lead wires of the regenerative resistor from the CNP1 connector NCAUTION Not doing so may break the lead wires of the regenerative resistor Check the servo amplifier model and then input proper voltage to the servo amplifier power supply If input voltage exceeds the upper limit of the specification the servo amplifier will break down Q The servo amplifier has a built in surge absorber varistor to reduce noise and to suppress lightning surge The varistor can break down due to its aged deterioration To prevent a fire use a molded case circuit breaker or fuse for input power supply Q Connecting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction N terminal is not a neutral point of the power supply Incorrect wiring may cause a burst damage etc EM2 has the same function as EM1 in the torque control mode Q When a 1 phase 200 V AC to 240 V AC power supply is used the connection destination differs depending on the servo amplifier Ensure that the connection destination is correct Configure the wiring so that the power supply is shut off and the servo on command is turned off after deceleration to a stop due to an alarm occurring an enabled servo forced stop or an enabled controller forced stop A molded case circuit breaker MCCB must be used with the input cables of the power supply 3 SIGNALS AND WIRING 1
99. CTIONMANUAL 1CW750 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 This Instruction Manual uses recycled paper SH NA 030152 B 1508 MEE Printed in Japan Specifications are subject to change without notice
100. ENT 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 then connect the regenerative option between P and C G3 and G4 are terminals for the thermal sensor Between G3 and G4 is opened when the regenerative option overheats abnormally Always remove the wiring across P to C of the servo amplifier built in regenerative resistor Servo amplifier Regenerative option P P sg Kee D eat C Note 1 les Note2 Lo f x D Note 1 Configure a sequence which will switch off the magnetic contactor when Load ratio 100 60 5 mor less ttt Note 3 Cooling fan The built in regenerative resistor is not provided for MR JE 10B and MR JE 20B abnormal heating occurs G3 G4 contact specifications Maximum voltage 120 V AC DC Maximum current 0 5 A 4 8 V DC Maximum capacity 2 4 VA When the ambient temperature is higher than 55 C and the regenerative load ratio is higher than 60 in MR RB32 forcibly cool the air with a cooling fan 1 0 m min or more 92 mm x 92 mm A cooling fan is not required if the ambient temperature is 35 C or lower A cooling fan is required for the shaded area in the following graph A cooling fan is required A cooling fan is not required Ambient temperature C 11 12 11 OPTIONS AND
101. ERS Initial Settin Symbol Name and function value g unit range PA23 DRAT Drive recorder arbitrary alarm trigger setting Refer to the Name and c value Alarm detail No setting Set the digits when you execute the trigger with an arbitrary alarm detail No for the drive recorder function When these digits are 0 0 only the arbitrary alarm No setting will be enabled Alarm No setting Set the digits when you execute the trigger with an arbitrary alarm No for the drive recorder function When 0 0 are set the arbitrary alarm trigger of the drive recorder will be disabled Setting example To activate the drive recorder when AL 50 Overload 1 occurs set 5 0 0 0 To activate the drive recorder when AL 50 3 Thermal overload error 4 during operation occurs set 5 0 0 3 PA24 AOP4_ Function selection A 4 Refer to the Name and 2 value Vibration suppression mode selection 0 Standard mode 1 3 inertia mode 2 Low response mode When two low resonance frequencies are generated select 3 inertia mode 1 When the load to motor inertia ratio exceeds the recommended load to motor inertia ratio select Low response mode ___ 2 When you select the standard mode or low response mode Vibration suppression control 2 cannot be used When you select the 3 inertia mode the feed forward gain cannot be used Before changing the control mode with the controller during the 3 inertia mode or low response mode stop th
102. Fax Tel Fax Tel Fax 1 847 478 2100 1 847 478 2253 52 55 3067 7500 55 11 4689 3000 55 11 4689 3016 49 2102 486 0 49 2102 486 1120 44 1707 28 8780 44 1707 27 8695 39 039 60531 39 039 6053 312 34 935 65 3131 34 935 89 1579 33 1 55 68 55 68 33 1 55 68 57 57 420 251 551 470 420 251 551 471 48 12 630 47 00 48 12 630 47 01 7 812 633 3497 7 812 633 3499 46 8 625 10 00 46 46 39 70 18 90 216 526 3990 90 216 526 3995 971 4 3724716 971 4 3724721 27 11 658 8100 27 11 658 8101 86 21 2322 3030 86 21 2322 3000 886 2 2299 2499 886 2 2299 2509 82 2 3660 9510 82 2 3664 8372 8335 65 6473 2308 65 6476 7439 66 2682 6522 to 6531 66 2682 6020 62 21 3192 6461 62 21 3192 3942 84 8 3910 5945 84 8 3910 5947 91 20 2710 2000 91 20 2710 2100 61 2 9684 7777 61 2 9684 7245 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries Microsoft Windows Internet Explorer and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States Japan and or other countries Intel Pentium and Celeron are trademarks of Intel Corporation in the United States and or other countries All other product names and company names are trademarks or registered trademarks of their respect
103. HIV wire Servo amplifier 2 UVIWI 1 L1 L2 L3 3 P C Note 1 we NC MR JE 200B 2 AWG 14 3 phase power supply input MR JE 200B AWG 16 to 10 1 phase power 3 5 AWG 12 supply input Note 1 The wire size shows applicable size of the servo amplifier connector For wires connecting to the servo motor refer to HG KN HG SN Servo Motor Instruction Manual 2 Be sure to use the size of 2 mm for compliance with the IEC EN UL CSA standard 11 33 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 7 Molded case circuit breakers fuses magnetic contactors QG Select a molded case circuit breaker with a fast shut off time to prevent smoke or NCAUTION ef Always use one molded case circuit breaker and one magnetic contactor with one servo amplifier When using a fuse instead of the molded case circuit breaker use the one having the specifications given in this section Molded case circuit breaker Note 1 and 4 o Fue Frame rated current Magnetic Servo amplifier contactor Vi plifi Powerfactor Power factor Voltage AC Class Current A Voltage AC improving reactor is improving reactor is V V Note 2 not used used MR JE10B EE MR JE 0B 30 a frame 5A 30 A frame 5A MR JE 20B MR JE 40B 30 A frame 10 A 30 A frame 5A MR JE 70B S N10 PESE UR 30Aframe 15A 30A frame 10A Stio 3 phase power supply input MR JE 100B 1 phase power 30 A frame 15 A 30 A frame 15 A supply input MR
104. IEC 60068 2 6 resistance 5 9 mis Transportation Note Class 2M3 IEC EN 60721 3 2 Class 1M2 ECEN 60721 3 2 Pollution degree IP20 Um 60529 Max 1000 m above sea level Max 10000 m above sea level Note In regular transport packaging IP rating App 4 7 Technical data App 4 7 1 MR JE servo amplifier MR JE 10 MR JE 20 MR JE 40 7 VE JMR JE 100 MRCIE 200 MR JE 300_ P Line voltage 3 phase or 3 phase 200 V AC to 240 V AC 50 Hz 60 Hz ower 9 1 phase 200 V AC to 240 V AC 50 Hz 60 Hz p SUPR 24 V DC required current capacity MR JE A 300 mA MR JE B 100 mA Control method Sine wave PWM control current control method Pollution degree 2 IEC EN 60664 1 Overvoltage category 1 phase 200 V AC II IEC EN 60664 1 3 phase 200 V AC III IEC EN 60664 1 Protective class IEC EN 61800 5 1 Short circuit current rating SCCR 100 kA App 4 7 2 Servo amplifier dimensions S Variable dimension table mm T Cw p a D 5 59 MR JETO MRJE ZO MRE so 168 s 98 H Front am umgezo mR JE 100 MR JE 200_ MR JE 300_ o e ws 21 P W D gt App 13 APPENDIX App 4 7 3 Mounting hole Screw size e aJa 9 Jel a c MRE NRE MRE 6 e 1 05 6 ws __ MR JE70 MR JE 100 22 zz 156205 6 42203 ms b MRE MRE 6 45 15 05 6 76203 ms App 5 SSCNET III cable SC J3BUS M C manufactured by Mitsubishi Electric System
105. ION Mo Lithium Metal batteries DO NOT LOAD OR TRANSPORT PACKAGE IF DAMAGED For more information call 81 3 3218 3639 International IIT n ntt go Ee Lee Vs AANA AR ADA ee ee ee ee ee enn Figure Example of Mitsubishi Label with Battery Illustration Action taken by Mitsubishi The following caution will be added to the packages of the target batteries Containing lithium metal battery Regulations apply for transportation EI Transportation precaution for customers For sea or air transportation attaching the handling label figure and the Shipper s Declaration for Dangerous Goods are required to the package of a Mitsubishi cell or battery In addition attaching them to the outer package containing several packages of Mitsubishi cells or batteries is also required Please attach the documentations in the specified design to the packages and the outer packages App 2 APPENDIX App 3 Symbol for the new EU Battery Directive Symbol for the new EU Battery Directive 2006 66 EC that 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 Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and or reused This symbol means that batteries and accumulators
106. Inspection items It is recommended that the following points periodically be checked 1 Check for loose screws on the protective earth PE terminal Retighten any loose screws tightening torque 1 2 Nem 2 Servo motor bearings brake section etc for unusual noise 3 Check the cables and the like for scratches or cracks Perform periodic inspection according to operating conditions 4 Check that the connectors are securely connected to the servo motor 5 Check that the wires are not coming out from the connector 6 Check for dust accumulation on the servo amplifier 7 Check for unusual noise generated from the servo amplifier 8 Check the servo motor shaft and coupling for connection App 4 5 2 Parts having service lives Service lives of the following parts are listed below However the service lives vary depending on operation and environment If any fault is found in the parts they must be replaced immediately regardless of their service lives For parts replacement please contact your local sales office Life guideline Smoothing capacitor Note 3 10 years Rela Number of power on forced stop and controller forced stop times i 100 000 times Cooling fan 50 000 hours to 70 000 hours 7 years to 8 years Approximately 20 000 hours Not 1 Battery Deackup time equipment power supply off ambient temperature 20 C Note 2 Battery life 5 years from date of manufacture Note 1 The time is for u
107. JE 200B 30 A frame 20 A 30 A frame 20 A MR JE 300B 30 A frame 30 A 30 A frame 30 A Note 1 When having the servo amplifier comply with the IEC EN UL CSA standard refer to appendix 4 2 Use a magnetic contactor with an operation delay time interval since a current is applied to the coil until the contact closes of 80 ms or shorter 3 S N18 can be used when auxiliary contact is not required 4 Use a molded case circuit breaker having the operation characteristics equal to or higher than Mitsubishi general purpose products S N20 Note 3 a T21 11 34 11 OPTIONS AND PERIPHERAL EQUIPMENT 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 It decreases the power supply capacity The input power factor is improved to about 80 When using power factor improving reactors for two servo amplifiers or more be sure to connect a power factor improving reactor to each servo amplifier If using only one power factor improving reactor enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated 1 Connection example a For 3 phase 200 V AC to 240 V AC power supply Servo amplifier FR HAL MCCB MC Re x LT e L1 3 phase Se Legal E L2 200 V AC to 240 V AC TA T Z Xoo L3 PE b For 1 phase 200 V
108. MBR Electromagnetic brake interlock turns off after the forced stop deceleration MBR Electromagnetic brake interlock turns off without the forced stop deceleration MBR Electromagnetic brake interlock turns off after the forced stop deceleration 3 SIGNALS AND WIRING 3 5 2 Output device 1 Output device pin The following shows the output device pins and parameters for assigning devices GER i number ons Pr Poo mer oo 2 Output device explanations Symbol Function and application Electromagnetic brake interlock Malfunction When using the device set operation delay time of the electromagnetic brake in Pr PCO2 When a servo off status or alarm occurs MBR will turn off When the protective circuit is activated to shut off the base circuit ALM will turn off When an alarm does not occur ALM will turn on after 2 5 s to 3 5 s after power on When the number of droop pulses is in the in position range INP will turn on The in position range can be changed using Pr PA10 When the in position range is increased INP may be on during low speed rotation The device cannot be used in the speed control mode or torque control mode or for continuous operation to torque control mode Reay RD Enabling servo on to make the servo amplifier ready to operate will turn on RD Speed reached li SA Limiting speed VLC Zero speed detection SA will turn off during servo off When
109. MITSUBISHI ELECTRIC General Purpose AC Servo ITSUBISHI SERVO AMPLIFIERS amp MOTORS SSCNET II H Interface AC Servo MODEL MR JE B SERVO AMPLIFIER INSTRUCTION MANUAL e Safety Instructions e 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 Indicates that incorrect handling may cause hazardous conditions AN WARNING Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage CAUTION resulting in death or severe injury Note that the IN CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbols S Indicates what must not be done For example No Fire is indicated by R 3 e Indicates what must be done For example grounding is indicated by e In this Instruction Manual instructions at a l
110. MR BT6VCASE can hold the absolute position data of up to 8 axis servo motors Always install five MR BAT6V1 batteries to MR BT6VCASE 1 Configuration diagram Servo system controller Servo amplifier T Position data ids 8 IS 8 Be o AER I 2 E Home position data Bar Es i B Sos i Oe opi etecung the etecung the ESV __ Step down number of position within circuit revolutions onerevolution 6V gt 34V D i MR BT6VCASE MR BAT6V1 x 5 High speed Servo motor serial z communication Accumulative revolution counter 1 pulse rev Within one revolution counter 2 Specification list Electronic battery backup ype Maximum revolution range Home position 32767 rev Note 1 6000 Maximum speed at power failure r min only when acceleration time until 6000 r min is 0 2 s or longer Approximately 40 000 hours 2 axes or less 30 000 hours 3 axes or 10 000 hours 8 axes Note 2 equipment power supply off ambient temperature 20 C Battery backup time Approximately 55 000 hours 2 axes or less 38 000 hours 3 axes or 15 000 hours 8 axes power on time ratio 25 ambient temperature 20 C Note 4 Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like Also if power is switched on at the servo mo
111. Nem I 1 I gigi X SJ Mounting screw i a i Screw size M5 TE1 id Tightening torque 3 24 N m G4 PI 6 l e 1 Mass 1 1 kg U Y Hus S 9 9 t e Approx 20 149 2 L 169 2 MR RB30 and MR RB32 Unit mm Terminal block Cooling fan mounting screw 2 M4 screw P C G3 e OS G4 lo gt t P Q Terminal screw size M4 Tightening torque 1 2 N m Mounting screw E Screw size M x Tightening torque 5 4 N m E Mass 2 9 kg S Hlooo00000000000000000 00000000000000000000 11 15 11 OPTIONS AND PERIPHERAL EQUIPMENT 3 MR RB50 Unit mm Terminal block Cooling fan mounting screw 2 M3 screw P On opposite side a 7x14 C pg D slotted hole G3 C T D 2 i5 b gt l Co Ch 2 b CH D G4 CO cb C5 d t d gt ch Pp ojo
112. ON Qf AL 25 AL 92 or AL 9F occurs due to a failure such as short circuit of the battery the MR BAT6V1 battery can become hot Use the MR BAT6V1 battery with a case to prevent getting burnt QG Replacing a battery will erase the absolute position data Q Refer to section 11 5 for the replacement procedure of the battery QG When absolute position data is erased from the encoder always execute home position setting before operation 12 1 Summary 12 1 1 Features For normal operation the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions The absolute position detection system always detects the absolute position of the machine and keeps it battery backed independently of whether the servo system controller power is on or off Therefore once home position return is made at the time of machine installation home position return is not needed when power is switched on thereafter Even at a power failure or a malfunction the system can be easily restored 12 1 12 ABSOLUTE POSITION DETECTION SYSTEM 12 1 2 Configuration The following shows a configuration of the absolute position detection system Refer to section 11 5 for the connection of the battery Servo system controller Servo amplifier CN1A CN2 CNA Battery Servo motor 12 1 3 Parameter setting Set 1
113. Parameter Setting window and the project Continue 6 12 6 NORMAL GAIN ADJUSTMENT After the one touch tuning is completed 0000 will be displayed at status in error code In addition settling time and overshoot amount will be displayed in Adjustment result One touch Tuning i m axsi v MfhReturn to value before adjustment E Return to initial value Setting Q User command method Start to operate before pressing Start button Servo motor cannot start in stop status Amplifier command method Set the permissible travel distance and execute the one touch tuning in auto operation Permissible travel distance 6 pulse 1 214748364 Ge 36777216 Pulse 7 Servo motor rotation amount 4 0 Please do not start when servo motor is rotating Test operation cannot be executed when adjustment starts in amplifier command method A Motor rotates when press the Start button Response mode High mode Execute the response mode for machines with high rigidity Basic mode Execute the response mode for standard machines Low mode Execute the response mode for machines with low rigidity L Szet Error code Status 0000 Adjustment result Settling time Error Code List e ce Update Project To further improve performance Fine adjust the model loop gain Tuning Detailed Setting Set the detailed parameter relating to One touch tuning Z Parameter Setting 4 Stop of one t
114. Q For the specifications and the year and month of manufacture of the MR BAT6V battery refer to section 11 5 4 MR BT6VCASE is a case used for connecting and mounting five MR BAT6V1 batteries No battery is included in the battery case Prepare MR BAT6V1 batteries separately 1 Number of connectable servo motors One MR BT6VCASE case can hold the absolute position data of up to 8 axis servo motors Servo motors in an incremental system are included as the axis numbers 2 Dimensions Unit mm 2 5 mounting hole 2 M4 screw Approx 70 130 130 120 120 0 5 Approx 130 Approx 5 000000000 L Mounting hole process drawing Mounting screw Screw size M4 Mass 0 18 kg 11 26 11 OPTIONS AND PERIPHERAL EQUIPMENT 3 Battery connection Q9 One battery unit can be connected to up to 8 axis servo motors Servo motors in an incremental system are included as the axis numbers a When using 1 axis servo amplifier MR BT6VCASE CN10 CN4 MR BT6V1CBL_M oo coa SS SS Servo amplifier b When using up to 8 axis servo amplifiers MR BT6VCASE MR BT6V1CBL_M MR BT6V2CBL_M MR BT6V2CBL_M CN10 e CNA oO
115. Ready off command from controller Dynamic brake Dynamic brake ss Electromagnetic brake Electromagnetic brake Servo motor speed APpIOX 10 mS S 0 r min l ON Base circuit OFF T MBR Electromagnetic Mates brake interlock OFF l l e Operation delay time of Ready on command ON EL the electromagnetic brake from controller OFF Note ON The electromagnetic brake is not activated OFF The electromagnetic brake is activated 2 When you do not use the forced stop deceleration function Q To disable the function set O in Pr PAO4 a Servo on command from controller on off It is the same as 1 a in this section b Off on of the forced stop command from controller or EM1 Forced stop 1 Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake has released Servo motor speed ER brake Pun Approx 10 ms Approx 210 ms Er NER RE NEN M A SCH ON Base circuit OFF Operation delay time Approx 210 ms MBR ON of the electromagnetic eon Cum Electromagnetic Note brake f brake interlock OFF t Forced stop command from controller Disabled ON or EM1 Forced stop 1 Enabled OFF Note ON The electromagnetic brake is not activated OFF The electromagnetic brake is activated c Alarm occurrence The operation status during an alarm is the same as section 3 7 d Power
116. S LTDA Rua Jussara 1750 Bloco B Anexo Jardim Santa Cecilia CEP 06465 070 Barueri SP Brasil MITSUBISHI ELECTRIC EUROPE B V German Branch Gothaer Strasse 8 D 40880 Ratingen Germany MITSUBISHI ELECTRIC EUROPE B V UK Branch Travellers Lane Hatfield Hertfordshire AL10 8XB U K MITSUBISHI ELECTRIC EUROPE B V Italian Branch Centro Direzionale Colleoni Palazzo Sirio Viale Colleoni 7 20864 Agrate Brianza Milano Italy MITSUBISHI ELECTRIC EUROPE B V Spanish Branch Carretera de Rub 76 80 Apdo 420 08173 Sant Cugat del Vall s Barcelona Spain MITSUBISHI ELECTRIC EUROPE B V French Branch 25 Boulevard des Bouvets F 92741 Nanterre Cedex France MITSUBISHI ELECTRIC EUROPE B V Czech Branch Avenir Business Park Radlicka 751 113e 158 00 Praha5 Czech Republic MITSUBISHI ELECTRIC EUROPE B V Polish Branchul Krakowska 50 32 083 Balice Poland MITSUBISHI ELECTRIC EUROPE B V Russian Branch St Petersburg office Piskarevsky pr 2 bld 2 lit Sch BC Benua office 720 RU 195027 St Petersburg Russia MITSUBISHI ELECTRIC EUROPE B V Scandinavia Fjelievagen 8 SE 22736 Lund Sweden MITSUBISHI ELECTRIC TURKEY A mraniye Branch Serifali Mahallesi Nutuk Sokak No 5 TR 34775 Umraniye Istanbul T rkey MITSUBISHI ELECTRIC EUROPE B V Dubai Branch Dubai Silicon Oasis P O BOX 341241 Dubai U A E ADROIT TECHNOLOGIES 20 Waterford Office Park 189 Witkoppen Road Fourways Johannesburg South A
117. Set the permissible travel distance and execute the one touch tuning in auto operation Permissible travel distance 1 214748364 Gen 16777216 pulse 7 Servo motor rotation amount 4 0 rev Please do not start when servo motor is rotating Test operation cannot be executed when adjustment starts in amplifier command method A Motor rotates when press the Start button Response mode High mode Execute the response mode for machines with high rigidity Basicmode Execute the response mode for standard machines O Low mode Pris the response mode for machines win on noad sir Error code Status 0000 Error Code List Adjustment result Settling time Overshoot amount Encoder pulse unit To further improve performance Fine adjust the model loop gain Detailed Setting Set the detailed parameter relating to One touch tuning zl Parameter Setting During processing of one touch tuning the progress will be displayed as follows Tuning will be completed at 100 Proeress Display Screen 0 100 Completing the one touch tuning will start writing tuning parameters to the servo amplifier and the following window will be displayed Select whether or not to reflect the tuning result in the project MELSOFT MR Contigurator2 One touch tuning was completed and the parameter of servo amplifier has been rewritten This will apply the changes in the parameters of Axisl to the
118. TERISTICS 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 With an approximately 5 C safety margin the system should operate within a maximum 55 C limit The necessary cabinet heat dissipation area can be calculated by equation 10 1 AT YAT EE EE E EE Ed AE dE Eet EEN EE 10 1 A Heatdissipation area m P Loss generated in the cabinet W AT _ Difference between internal and ambient temperatures C K Heatdissipation coefficient 5 to 6 When calculating the heat dissipation area with equation 10 1 assume that P is the sum of all losses generated in the cabinet Refer to table 10 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the cabinet is directly installed on an insulated wall that extra amount must be added to the cabinet s surface area The required heat dissipation area will vary with the conditions in the cabinet If convection in the cabinet is poor and heat builds up effective heat dissipation will not be possible Therefore arrangement of the equipment in the cabinet and the use of a cooling fan should be considered Table 10 1 lists the cabinet dissipation area for each servo amplifier guideline when the servo amplifier is operated at the amb
119. TMENT FUNCTIONS MEMO 8 TROUBLESHOOTING 8 TROUBLESHOOTING Q Refer to MELSERVO JE Servo Amplifier Instruction Manual Troubleshooting for details of alarms and warnings Q s soon as an alarm occurs make the Servo off status and interrupt the power AL 37 Parameter error and warnings except AL FO Tough drive warning are not recorded in the alarm history When an error occurs during operation the corresponding alarm or warning is displayed When the alarm occurs refer to MELSERVO JE Servo Amplifier Instruction Manual Troubleshooting to remove the failure When an alarm occurs ALM Malfunction will turn off 8 1 Explanation for the lists 1 No Name Detail number Detail name Indicates the number name detail number detail name of alarms or warnings H Stop method For the alarms and warnings in which SD is written in the stop method column the servo motor stops with the dynamic brake after forced stop deceleration For the alarms and warnings written DB or EDB in the stop method column the servo motor stops with the dynamic brake without forced stop deceleration 3 Alarm deactivation After its cause has been removed the alarm can be deactivated in any of the methods marked o in the alarm deactivation column Warnings are automatically canceled after the cause of occurrence is removed Alarms are deactivated with alarm reset CPU reset or power cycling Alarm deactivation Explanation Ala
120. VAVAVAVANIVANUNIVAVA 8 TROUBLESHOOTING Stop Detail method No Name No Detail name Note 2 3 Servo on signal on during main E9 1 uni circuit off Main circuit off waming Bus voltage drop during low speed oe operation Ready on signal on during main E93 circuit off Overload warning 2 Overload warning 2 SES wal oe ED 1 Output watt excess warning warning Instantaneous power failure tough Tough drive warning drive warning 0 3 Vibration tough drive warning Drive recorder Area writing time out warning Miswriting warning Drive recorder Data miswriting warning Oscillation detection 34 Oscillation detection warning warning 71 m o Drive recorder Tn T N N N zi Cam data miswriting F5 warning F5 wN Cam axis one cycle current value Cam axis feed current value Cam control warning F6 3 Cam unregistered error 3 Cam control data setting range error Cam No external error i Cam control inactive n o m o N Cam data Area miswriting warning E o AR 4 Cam data Area writing time out Simple cam function warning F5 WN 1 7 ojo ojo Note 1 Leave the servo amplifier for about 30 minutes 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 SD Forced stop deceleration 3 This is applicable when Pr
121. a Servo motor side a Servo motor side Load side Load side gt t gt t Vibration suppression off normal Vibration suppression control on When the advanced vibration suppression control II Pr PB02 Vibration suppression control tuning mode is executed the vibration frequency at load side is automatically estimated to suppress machine side vibration two times at most In the vibration suppression control tuning mode this mode shifts to the manual setting after the positioning operation is performed the predetermined number of times For manual setting adjust the vibration suppression control 1 with Pr PB19 to Pr PB22 and vibration suppression control 2 with Pr PB52 to Pr PB55 Parameter Set Pr PBO2 Vibration suppression control tuning mode advanced vibration suppression control II When you use a vibration suppression control set Vibration suppression control 1 tuning mode selection When you use two vibration suppression controls set Vibration suppression control 2 tuning mode selection in addition Pr PB02 ojo Vibration suppression control 1 tuning mode Setting Vibration suppression control 1 tuning mode selection Automatically set parameter _ 0 Disabled Ee Automatic setting PB19 PB20 PB21 PB22 Manual setting Eee Vibration suppression control 2 tuning mode Setting Vibration suppression control 2 tuning mode selection Automatically set
122. ack ability to a position command but too high a value will make overshoot liable to occur at settling The droop pulse value is determined by the following expression Position command frequency pulse s Number of droop pulses pulse Model Ver gain setting Speed r min 60 x Encoder resolution number of pulses per servo motor Position command frequency revolution 6 NORMAL GAIN ADJUSTMENT MEMO 28 7 SPECIAL ADJUSTMENT FUNCTIONS 7 SPECIAL ADJUSTMENT FUNCTIONS Q 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 1 Filter setting The following filters are available with MR JE servo amplifiers Speed Pr PB18 Pr PB13 Pr PB15 Pr PB46 control Low pass Machine Machine Machine Command Command filter resonance resonance resonance pulse train filter Q tti suppression Suppression suppression seting filter 1 filter 2 filter 3 Pr PB48 Pr PB50 Machine Pr PE41 Machine resonance presse resonance suppression f suppression T filter 4 T filter 5 qme bL PWM 1 Encoder el Shaft l tel Suppression ______ 4 Robust filter filter Servo motor 7 1 1 Machine resonance suppression filter
123. ake activates EM2 Forced stop 2 Rated Speed Servo motor speed Base circuit Energy supply to the servo motor MBR Electromagnetic brake interlock 3 6 2 Base circuit shut off delay time function ON OFF Enabled Jo Dynamic brake Ordinary operation Forced stop deceleration Electromagnetic brake l l i i Zero speed Pr PCO7 Orlmn A E NR FOR PED M rro nt Deceleration time eo Pr PC24 i ON j OFF c i ON l OFF Enabled The base circuit shut off delay time function is used to prevent a vertical axis ffom dropping at a forced stop EM2 goes off alarm occurrence or SSCNET III H communication shut off due to delay time of the electromagnetic brake Set the time from MBR Electromagnetic brake interlock off to base circuit shut off with Pr PCO2 1 Timing chart EM2 Forced stop 2 Servo motor speed When EM2 Forced stop 2 turns off or an ON OFF Enabled EE D alarm occurs during driving the servo motor will decelerate based on the deceleration time constant MBR Electromagnetic brake interlock will turn off and then after the delay time set in Pr PCO02 the servo amplifier will be base circuit shut off status 0 r min Base circuit ON Energy supply to the servo motor OFF MBR ON Electromagnetic brake interlock OFF Enabled 3 SIGNALS AND WIRING 2
124. al model 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 Position control mode This servo amplifier is used as a position control servo 9s 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 Lihzresol tiamn encoder A high resolution encoder of 131072 pulses rev is used as the encoder of the rotary g servo motor compatible with the MELSERVO JE series Absolute position detection Setting a home position once makes home position return unnecessary at every Chapter 12 system power on p Gain switching function You can switch gains during rotation and during stop and can use input devices to Section 7 2 switch gains during operation Advanced Vibration This function suppresses vibration at the arm end or residual vibration Section 7 1 5 suppression control II Machine resonance This filter function notch filter decreases the gain of the specific frequency to r i e Section 7 1 1 suppression filter 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 Section 7 1 3 suppression filter suppresses the vibrati
125. al setting 2 is selected Refer to section 7 1 5 for details Vibration suppression control 1 Resonance frequency 100 0 0 1 Set the resonance frequency for the vibration suppression control 1 to suppress low frequency Hz to machine vibration 300 0 When Vibration suppression control 1 tuning mode selection is Automatic setting 1 in Pr PBO2 this parameter will be set automatically Set this parameter manually for Manual setting 2 Refer to section 7 1 5 for details Vibration suppression control 1 Vibration frequency damping 0 00 Set a damping of the vibration frequency for the vibration suppression control 1 to suppress to low frequency machine vibration 0 30 When Vibration suppression control 1 tuning mode selection is Automatic setting 1 in Pr PBO2 this parameter will be set automatically Set this parameter manually for Manual 0 00 to low frequency machine vibration 0 30 When Vibration suppression control 1 tuning mode selection is Automatic setting 1 in Pr PBO2 this parameter will be set automatically Set this parameter manually for Manual setting 2 Refer to section 7 1 5 for details Low pass filter selection Refer to the Select the shaft resonance suppression filter and low pass filter Name and function column Shaft resonance suppression filter selection 0 0 Automatic setting 1 Manual setting 2 Disabled When you select Enabled 1 of Machine resonance suppres
126. arge 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 NWARN NG S the servo arpiitiar and servo da securely o not attempt to wire the servo amplifier and servo motor until they have been installed Otherwise it may cause an electric shock The cables should not be damaged stressed loaded or pinched Otherwise it may cause an electric shock Q To avoid an electric shock insulate the connections of the power supply terminals Q 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 Q Wire the equipment correctly and securely Otherwise the servo motor may operate unexpectedly resulting in injury Q 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 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 Servo amplifier 24 V DC NCAU TION o Control output Control output signal D Signal For sink output interface For source output interface Q Use a noise filter etc to minimize the influence of electromagnetic interference Electroma
127. as a real time auto tuning function which estimates the machine characteristic load to motor inertia ratio in real time and automatically sets the optimum gains according to that value This function permits ease of gain adjustment of the servo amplifier 1 Auto tuning mode 1 The servo amplifier is factory set to the auto tuning mode 1 In this mode the load to motor inertia ratio of a machine is always estimated to set the optimum gains automatically The following parameters are automatically adjusted in the auto tuning mode 1 vic Q The auto tuning mode 1 may not be performed properly if all of the following conditions are not satisfied The acceleration deceleration time constant to reach 2000 r min is 5 s or shorter The speed is 150 r min or faster The load to motor inertia ratio is 100 times or smaller The acceleration deceleration torque is 10 or higher of the rated torque Q Under operating conditions which will impose sudden disturbance torque during acceleration or deceleration or on a machine which is extremely loose auto tuning may not function properly either In such cases use the auto tuning mode 2 or manual mode to make gain adjustment 2 Auto tuning mode 2 Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1 Since the load to motor inertia ratio is not estimated in this mode set the value of a correct load to motor inertia ratio in Pr PBOG The following param
128. asily affected signal cables and the UO cables of the servo amplifier 3 Avoid wiring the power lines input output lines of the servo amplifier and signal lines side by side or bundling them together 4 Insert a line noise filter to the I O cables or a radio noise filter on the input line 5 Use shielded wires for the signal and power lines or put the lines in separate metal conduits When the power lines and the signal lines are laid side by side or bundled together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 4 5 6 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid wiring the power lines input output lines of the servo amplifier and signal lines side by side or bundling them together 4 Use shielded wires for the signal and power lines or put the lines in separate metal conduits When the power supply of peripheral equipment is connected to the power supply of the servo amplifier system noises produced by the servo amplifier may be transmitted back through the power 7 supply cable and the devices may malfunction The following techniques are required 1 Install the radio noise filter FR BIF on the power lines Input lines of the servo amplifier 2 I
129. ass filter selection 0 Automatic setting 1 Manual setting 2 Disabled 7 1 5 Advanced vibration suppression control Il Q The function is enabled when Gain adjustment mode selection in Pr PAO8 is Auto tuning mode 2 ___ 2 Manual mode 3 or 2 gain adjustment mode2 X 4 Q The machine resonance frequency supported in the vibration suppression control tuning mode is 1 0 Hz to 100 0 Hz As for the vibration out of the range set manually Q Stop the servo motor before changing the vibration suppression control related parameters Otherwise it may cause an unexpected operation Q For positioning operation during execution of vibration suppression control tuning provide a stop time to ensure a stop after vibration damping Q Vibration suppression control tuning may not make normal estimation if the residual vibration at the servo motor side is small Q Vibration suppression control tuning sets the optimum parameter with the currently set control gains When the response setting is increased set vibration suppression control tuning again QG When using the vibration suppression control 2 set 1 in Pr PA24 7 SPECIAL ADJUSTMENT FUNCTIONS 1 Function 2 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 adjusted for positioning so that the machine does not vibrate c E 2 2 8 8
130. at their end of life should be disposed of separately from your household waste If a chemical symbol is printed beneath the symbol shown above this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration This will be indicated as follows Hg mercury 0 000596 Cd cadmium 0 002 Pb lead 0 004 In the European Union there are separate collection systems for used batteries and accumulators Please dispose of batteries and accumulators correctly at your local community waste collection recycling centre Please help us to conserve the environment we live in App 4 Compliance with global standards App 4 1 About safety This section explains safety of users and machine operators Please read the section carefully before mounting the equipment App 4 1 1 Professional engineer Only professional engineers should mount MR JE servo amplifiers Here professional engineers are persons who took a proper engineering training or qualified persons who are engaged in electrical equipment Check if applicable technical training is available at your local Mitsubishi Electric office Contact your local sales office for schedules and locations App 4 1 2 Applications of the devices MR JE servo amplifiers comply with the following standards IEC EN 61800 5 1 IEC EN 61800 3 App 3 APPENDIX App 4 1 3 Correct use Always use the MR JE servo amplifiers within specifications voltag
131. ation of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 3 SIGNALS AND WIRING 4 For 1 phase 200 V AC to 240 V AC power supply of MR JE 200B Qe For MR JE B servo amplifiers the hot line forced stop function is enabled at factory setting For MR J4 B servo amplifiers the hot line forced stop function is disabled at factory setting Qf an alarm occurs the hot line forced stop function outputs hot line forced stop signals to all servo amplifiers before a communication to the controller is cut Then servo amplifiers will be in the AL E7 1 Controller forced stop warning state and will decelerate to a stop Q The hot line forced stop function can be disabled with Pr PA27 Q Configure the power supply circuit which turns off magnetic contactors of all servo amplifiers after detection of alarm occurrence on the controller side at alarm occurrence Q Connect the 1 phase 200 V AC to 240 V AC power supply to L1 and L2 One of the connecting destinations is different from MR JE 100B or less Servo Amplifier s OFF r a c E Ld Lo L Emergency stop switch MC re Note 5 Alarm Servo amplifier Servo motor ISh MCCB MC Note 8 CNP1 phase x 7 L1 200 V AC to cd d CNP2 Note 4 7 240 V AC Xa vo L2 A Motor QUIS iV G O N e W ZK eee i I OD Note 1 P d o 0
132. cause a shock Always switch gain after the servo motor stops 0 00 to 0 30 5 PARAMETERS Initial Setting Name and function value range Unit PB45 CNHF Command notch filter Refer to the Set the command notch filter Name and function column XX Command notch filter setting frequency selection 00h Jesse meri 0X 0 Notch depth selection Oh EM sotrdaaie e For manufacturer setting Table 5 5 Command notch filter setting frequency selection Setting Frequency value Hz 00 Disabled _ F o 00 6 5 5 PARAMETERS Initial Settin No Symbol Name and function value g unit range PB46 NH3 Machine resonance suppression filter 3 4500 10 to Set the notch frequency of the machine resonance suppression filter 3 Hz 4500 To enable the setting value select Enabled __ _ 1 of Machine resonance suppression filter 3 selection in Pr PB47 PB47 NHQ3_ Notch shape selection 3 Refer to the Set forms of the machine resonance suppression filter 3 Name and function column Machine resonance suppression filter 3 selection 0 Disabled 1 Enabled Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB Notch width selection 0 222 1 a23 2 074 3 275 PB48 NH4 Machine resonance suppression filter 4 4500 10 to Set the notch frequency of the machine resonance suppression filter 4 Hz 4500 To enable the setting value select Enabled __ _ 1 of Machine resonance suppression filter
133. cking operation status of the servo motor Summary The servo amplifier has a model adaptive control The servo amplifier has a virtual motor model and drives the servo motor following the output of the motor model in the model adaptive control At model adaptive control disabled the servo amplifier drives the motor with PID control without using the model adaptive control The following shows the available parameters at model adaptive control disabled Parameter setting Set Pr PB25 to 2 Restrictions The following functions are not available at model adaptive control disabled Explanatio Disabling the model adaptive control while the forced stop deceleration function is enabled AL 37 will occur The forced stop deceleration function is enabled at factory setting Set Pr PA04 to 0 Forced stop deceleration function disabled Forced stop deceleration function Pr PA04 Vibration suppression control 1 The vibration suppression control uses the model adaptive WEE control Disabling the model adaptive control will also disable the vibration suppression control Vibration suppression control 2 Pr PBO2V Pr PB52 Pr PB53 The overshoot amount compensation uses data used by Overshoot amount compensation the model adaptive control Disabling the model adaptive Pr PB12 control will also disable the overshoot amount compensation 7 SPECIAL ADJUSTMENT FUNCTIONS 7 5 Lost motion compensat
134. cm CR 50500 Okaya Electric Industries Rated Dimensions Unit mm voltage uF a ER Ge Test voltage AC V Band clear AWG 18 Twisted wire 4 Between terminals 625 V AC 50 soldered S 93 6 1 2 W Between terminal and case 6 1 6 1 S 2000 V AC 50 Hz 60 Hz 60 s 300 min 48215 300min 16 1 gt 18 5 5 max Note that a diode should be installed to a DC relay or the like Maximum voltage Not less than 4 times the drive voltage of the relay or the like RA Maximum current Not less than twice the drive current of the relay or the er like 11 39 11 OPTIONS AND PERIPHERAL EQUIPMENT 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 Install the grounding plate near the servo amplifier for the encoder cable Peel part of the cable sheath to expose the external conductor and press that part against the grounding plate with the cable clamp If the cable is thin clamp several cables in a bunch The cable clamp comes as a set with the grounding plate Unit mm Cable Strip the cable sheath of Cable clamp the clamped area cutter A B Earth
135. ct Manual mode _ 3 of Gain adjustment mode selection in Pr PAO8 PB33 VRF11B Vibration suppression control 1 Vibration frequency after gain switching 0 0 0 0 to Set the vibration frequency for the vibration suppression control 1 for when the gain switching Hz 300 0 is enabled When you set a value smaller than 0 1 Hz the value will be the same as the value set in Pr PB19 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode ____ 3 Vibration suppression control 1 tuning mode selection in Pr PBO2 is Manual setting _ _ _ 2 Gain switching selection in Pr PB26 is Control command from controller is enabled _ _ 1 Switching during driving may cause a shock Always switch gain after the servo motor stops PB34 VRF12B Vibration suppression control 1 Resonance frequency after gain switching 0 0 0 0 to Set the resonance frequency for the vibration suppression control 1 for when the gain Hz 300 0 switching is enabled When you set a value smaller than 0 1 Hz the value will be the same as the value set in Pr PB20 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode ____ 3 Vibration suppression control 1 tuning mode selection in Pr PBO2 is Manual setting _ _ _ 2 Gain switching selection
136. cting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction 3 Test run and adjustment CAUTION Q Before operation check the parameter settings Improper settings may cause some machines to operate unexpectedly Q Never adjust or change the parameter values drastically as doing so will make the operation unstable Q Do not get close to moving parts during the servo on status 4 Usage A CAUTION Q 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 Q Do not disassemble repair or modify the equipment Q 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 Q 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 QG Burning or breaking a servo amplifier may cause a toxic gas Do not burn or break it Q Use the servo amplifier with the specified servo motor Q The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking Q 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 electro
137. d to the pins of the CN3 connector c The wire between the plate and DOCOM of the CN3 connector should not be shorted Servo amplifier CN3 DOCOM Plate 4 1 3 Surrounding environment 1 Cable routing a The wiring cables should not be stressed b The encoder cable should not be used in excess of its bending life Refer to section 10 4 c The connector of the servo motor should not be stressed 2 Environment Signal cables and power cables are not shorted by wire offcuts metallic dust or the like 4 STARTUP 4 2 Startup Connect the servo motor with a machine after confirming that the servo motor operates properly alone 1 Power on When the power supply is turned on b01 for the first axis appears on the servo amplifier display When you use the absolute position detection system first power on results in AL 25 Absolute position erased and the servo system cannot be switched on The alarm can be deactivated by switching power off once and on again Also if power is switched on at the servo motor speed of 3000 r min or faster a position mismatch may occur due to external force or the like Power must therefore be switched on when the servo motor is at a stop S Parameter setting The following encoder cables are of four wire type When using any of these encoder cables set Pr PC04 to 1 _ to select the four wire type An incorrect setting will result in AL
138. ductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40 mA or lower maximum current 50 mA or lower inrush current 100 mA or lower A maximum of 2 6 V voltage drop occurs in the servo amplifier The following shows a connection diagram for sink output Refer to section 3 8 3 for source output Servo amplifier If polarity of diode is reversed servo amplifier will malfunction MBR X Ly A A L uw DOCOM Note 24 V DC 10 100 mA Note If the voltage drop maximum of 2 6 V interferes with the relay operation apply high voltage maximum of 26 4 V from an external source 3 SIGNALS AND WIRING 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 photocoupler is the input terminal Transmit signals from Source open collector type transistor output relay switch etc For transistor Servo amplifier m Approximately H TR Switch SE DICOM SES d Approximately 24 V DC x 1096 5mA 100 mA Vces lt 1 0 V lceo 100 uA 2 Digital output interface DO 1 This is a circuit in which the emitter of the output transistor is the output terminal When the output transistor is turned on the current will flow from the output terminal to a load A maximum of 2
139. e Co Cp CH 1m CO C P c c cc i5 S Terminal screw size M4 Co cb 2 b H H L3 D Kee ES e SE X a b KR ees Tightening torque 1 2 Nem E ep C CONI Cr C c amp 4 pipi i T mpm EB D Mounting screw Be c dco i o d eo el Air Screw size M6 i mcm cec r EE A cubes intake Tightening torque 5 4 N m ee SSS ics i ee ee eim m aee Mass 5 6 kg een IM OOO N P Co CH e d d 3 ET eo Cc gt 2 Poco e Co d d i C c3 E EE EH C3 c3 e a J lt 3 d gt gt pO O Y c gt 2 t b 2 I 23 7 of 7 L 200 117 S 12 108 Approx 30 L 217 120 8 4 MR RB032 Unit mm TE1 terminal block 6 mounting hole YJ G3 sa dg e 5 A x iud a e Ly i x Y C P zm ry LU lo l l l i Applicable wire size 0 2 mm AWG 24 to 2 5 mm i E AWG 12 l ie l Tightening torque 0 5 to 0 6 Nem K 5 ZS i FT Mounting screw G pe Screw size M5 ge BE Tightening torque 3 24 Nem TE1 g fe og i Sa a 0 d Mass 0 5 kg i L E Ka Y N es Y e A A shh 6 o 1 6 kr Approx 20 Ss 99 a D 119 N 11 16 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 3 Junction terminal block PS7DW 20V14B F recommended 1 Usage n end use the junction terminal block PS7DW 20V14B F Toho Technology with the option cable MR J2HBUS M as a set A connection example is shown below Servo amplifier Junction terminal block PS7DW 20V14B F d CN MR
140. e e 2 2 5 PARAMETERS 5 1 2 Gain filter setting parameters Pr PB DE value PB01 FILT Adaptive tuning mode adaptive filter II 0000h Vibration suppression control tuning mode advanced vibration DEI suppression control II ER PBM4 FFC Feedfowadgan LL PRos Formamfaduersetng E ER rad s Multiplier PB10 VIC Speed integral compensation ms DC Speed differential compensation A Overshoot amount compensation o 500 PB09 Speed loop gain rad s 3 7 80 U U UJ UJ UJ k a GOIbM l 3 lt Hi z500 Tha Hai 2 a500 TH Haz 0000h NHF LPF jadis VRF11 Vibration suppression control 1 Vibration frequency 100 0 Hz VRF12 Vibration suppression control 1 Resonance frequency PB21 VRF13_ Vibration suppression control Vibration frequency damping 000 B22 VRF14__ Vibration suppression control T Resonance frequency damping 0 00 WS 0000 ES CDP Gain switching condition kpulse s pulse r min DT Gain switching time constant EE ms U W hes AR z U U UJ UJ xL o e Ree UJ UJ N Ka UU WU UJ UJ N N o o QN lt T D TI w E UJ N CO 1 GD2B Load to motor inertia ratio after gain switching Multiplier 2B Position loop gain after gain switching VG2B Speed loop gain after gain switching d UJ Gi o DH e rad s rad s VICB Speed integral compensation after ga
141. e manually set the model loop gain that determines command track ability Other parameters for gain adjustment are set automatically 1 2 gain adjustment mode 1 For the 2 gain adjustment mode 1 manually set the model loop gain that determines command track ability The mode constantly estimates the load to motor inertia ratio and automatically sets other parameters for gain adjustment to optimum gains using auto tuning response The following parameters are used for 2 gain adjustment mode 1 a Automatically adjusted parameter The following parameters are automatically adjusted by auto tuning Symbol PB06 Load to motor inertia ratio PB08 Position loop gain PB09 Speed loop gain PB10 Speed integral compensation b Manually adjusted parameter The following parameters are adjustable manually Symbol PA09 Auto tuning response PBO7 Model loop gain 6 NORMAL GAIN ADJUSTMENT 2 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment mode 1 Since the load to motor inertia ratio is not estimated in this mode set the value of a proper load to motor inertia ratio in Pr PBO6 The following parameters are used for 2 gain adjustment mode 2 a Automatically adjusted parameter The following parameters are automatically adjusted by auto tuning Symbol PB08 Position loop gain PB09 Speed loop gain PB10 Speed integral compensation b Manually adjust
142. e temperature etc Refer to section 1 3 for details Mitsubishi Electric Co accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device even in the context of mounting and installation Qt takes 15 minutes for capacitor discharging Do not touch the unit and terminals NWARNING di immediately after power off 1 Peripheral device and power wiring The followings are selected based on IEC EN 61800 5 1 UL 508C and CSA C22 No 14 a Local wiring The following table shows the stranded wire sizes AWG symbols rated at 75 C 60 C Table Recommended wires 75 C 60 C stranded wire AWG Note 2 Note 1 2 MR JE 10 MR JE 20 MR JE 40 MR JE 70 MR JE 100 T MR JE 200 MR JE 300 14 14 14 14 Note 1 Select wire sizes depending on the rated output of the servo motors The values in the table are sizes based on rated output of the servo amplifiers 2 The following shows the PE terminal specifications of the servo amplifier Screw size M4 Tightening torque 1 2 Nem Recommended crimp terminals R2 4 Manufactured by JST Crimping tool YPT 60 21 Manufactured by JST 3 S means 1 phase 200 V AC power input and T means 3 phase 200 V AC power input in the table App 4 APPENDIX b Selection example of MCCB and fuse Use T class fuses or molded case circuit breaker UL 489 Listed MCCB as the following table The T class fuses and molded case
143. e device to the servo amplifier c Connect the power plug of the personal computer to the AC power socket b When using a personal computer with battery You can use as it is H Connection with other devices using servo amplifier communication function When the servo amplifier is charged with electricity due to connection with a personal computer and the charged servo amplifier is connected with other devices the servo amplifier or the connected devices may malfunction Connect the servo amplifier and other devices with the following procedures a Shut off the power of the device for connecting with the servo amplifier b Shut off the power of the servo amplifier which was connected with the personal computer and check the charge lamp is off c Connect the device with the servo amplifier d Turn on the power of the servo amplifier and the device 11 20 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 5 Battery 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 5 1 Selection of battery Applicable batteries differ depending on servo amplifiers Select a proper battery 1 Applications of the batteries Med Nam Application Bulltin battery MR BAT6V1SET A Battery For absolute position data hold MR BAT6V1 Batte
144. e motor For manufacturer setting D 5 16 5 PARAMETERS Initial Settin Symbol Name and function value g range unit PA25 OTHOV One touch tuning Overshoot permissible level 0 0 to 100 Set a permissible value of the overshoot amount for one touch tuning as a percentage of the 26 in position range However setting O will be 5096 PA26 AOP5 Function selection A 5 Refer to the Name and c value Torque limit function selection at instantaneous power failure instantaneous power failure tough drive selection 0 Disabled 1 Enabled When an instantaneous power failure occurs during operation you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration You can also delay the time until the occurrence of AL 10 2 Bus voltage drop with the instantaneous power failure tough drive function Doing this will enable you to set a longer time in Pr PF25 Instantaneous power failure tough drive Detection time The torque limit function at instantaneous power failure is enabled when instantaneous power failure tough drive selection in Pr PA20 is Enabled _1__ For manufacturer setting X PA27 HTL i i Refer to the Name and function column Hot line forced stop function selection 0 Enabled 1 Disabled 5 17 5 PARAMETERS 5 2 2 Gain filter setting parameters Pr PB Initial Settin Name and function value 3 range u
145. e parameter However the time will be longer depending on a setting value of Pr PF25 Instantaneous power failure tough drive Detection time when instantaneous power failure tough drive selection is enabled in Pr PA20 To enable the parameter value power off the servo amplifier for 1 s or longer and power on the amplifier However the time will be longer depending on a setting value of Pr PF25 Instantaneous power failure tough drive Detection time when instantaneous power failure tough drive selection is enabled in Pr PA20 5 PARAMETERS 5 1 1 Basic setting parameters Pr PA e 7 0 Ee value Paor gt For manufacturer seting 1009 P Pa REG Regenerative option 0009 PAOS ABS 0000 04 AOPi For manufacturer setting 10000 a Ul U e ays U U EE o CIN o ATU SP 0 0000h 10000 0001h 100 1000 0 1000 0 O000h o o o 0000h O000h Auto tuning mode 001h Auto tuning response U 2 o Az 100 For manufacturer setting 1000 0 1000 0 0000h pulse Ul U gt gt aia 310 UD ZZ wWj N PA14 POL Rotation direction selection For manufacturer setting 0000h 0000h Pa22 Formanufacturer seting O O foo PA23 0000h PA24 000 One touch tuning Overshoot permissible level 0000 For manufacturer setting 0000h 0000h 0000h 0000h 0000h Se eA A e e e
146. e used in the auto tuning mode 1 Parameters for setting gain switching condition Symbol PB26 Gain switching selection pe eee Used to select the switching condition PB27 CDL Gain switching condition kpulse s Used to set the switching condition values pulse r min PB28 Gain switching time constant You can set the filter time constant for a gain change at switching a Pr PB26 Gain switching function This parameter is for setting of the gain switching conditions Select the switching condition in the first to third digits Pr PB26 L Gain switching selection 0 Disabled 1 Control command from controller is enabled 2 Command frequency 3 Droop pulses 4 Servo motor speed Gain switching condition 0 Gain after switching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less Gain switching time constant disabling condition selection 0 Switching time constant enabled 1 Switching time constant disabled 2 Return time constant disabled b Pr PB27 Gain switching condition Set a level to switch gains after you select Command frequency Droop pulses or Servo motor speed in Pr PB26 Gain switching function The setting unit is as follows Gain switching condition Command frequency kpulse s Droop pulses pulse Servo motor speed c Pr PB28 Gain switching time constant You can set the primary
147. ed Execute or re execute adaptive tuning Set Pr PB01 to 1 Tuning ends automatically after the predetermined period of time Pr PBO1 will De 2 or wo Qu If assumption fails after tuning is executed at a large vibration or oscillation decrease the response setting temporarily down to the vibration level and execute again Has vibration or unusual noise been resolved v v m z Factor Decrease the response until vibration Using the machine analyzer set the The res aa limi Psy ponse has increased to the machine limit or unusual noise is resolved filter manually The machine is too complicated to provide the optimum filter End 7 SPECIAL ADJUSTMENT FUNCTIONS 7 1 3 Shaft resonance suppression filter 1 Function Q 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 PB23 or setting Pr PB17 Shaft resonance suppression filter can degrades in performance 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 When you select Automatic setting the filter will be set automatically on the basis of the
148. ed setting to the initial values C00A Alarm One touch tuning was attempted to start in Start one touch tuning when no alarm or the amplifier command method during alarm warning occurs or warning Prevent alarm or warning from occurring Alarm or warning occurred during one touch during one touch tuning tuning by the amplifier command method COOF One touch tuning One touch tuning function selection in Pr Select Enabled ___ 1 6 7 disabled PA21 is Disabled _ _ 0 If an alarm occurs If an alarm occurs during tuning one touch tuning will be forcibly terminated Remove the cause of the alarm and execute one touch tuning again When executing one touch tuning in the amplifier command method again return the moving part to the tuning start position If a warning occurs If a warning which continues the motor driving occurs during one touch tuning by the user command method the tuning will be continued If a warning which does not continue the motor driving occurs during the tuning one touch tuning will be stopped One touch tuning will be stopped when warning occurs during one touch tuning by the amplifier command method regardless of the warning type Remove the cause of the warning and return the moving part to the tuning start position Then execute the tuning again 6 15 6 NORMAL GAIN ADJUSTMENT 8 Initializing one touch tuning Clicking Return to initial value in the one touch tuning windo
149. ed item of this section carefully and handle the SSCNET III cable with caution 1 Minimum bending radius Make sure to lay the cable with greater radius than the minimum bending radius Do not press the cable to edges of equipment or others For the SSCNET III cable the appropriate length should be selected with due consideration for the dimensions and arrangement of the servo amplifier When closing the door of the cabinet pay careful attention to avoid the case that the SSCNET III cable is held down by the door and the cable bend becomes smaller than the minimum bending radius For the minimum bending radius refer to section 11 1 2 S Prohibition of vinyl tape use Migrating plasticizer is used for vinyl tape Keep the MR J3BUS_M and MR J3BUS M A cables away from vinyl tape because the optical characteristic may be affected SSONET I cable t WELLEN a H WeusBUS MA a A wususwB o o A Phthalate ester plasticizer such as DBP and DOP Optical cord Cable may affect optical characteristic of the cable O The cord and cable are not basically affected by plasticizer 2 INSTALLATION 3 Precautions for migrating plasticizer added materials Generally soft polyvinyl chloride PVC polyethylene resin PE and fluorine resin contain non migrating plasticizer and they do not affect the optical characteristic of the SSCNET III cable However some wire sheaths and cable
150. ed parameter The following parameters are adjustable manually 3 Adjustment procedure of 2 gain adjustment mode Q Set the same value in Pr PBO7 Model loop gain for the axis used in the 2 gain adjustment mode Set the auto tuning mode Select theauto tuning mode 1 During operation increase the response level setting value in Pr Adjustment in auto tuning PAO9 and return the setting if vibration occurs mode 1 3 Check value of the model loop gain and the load to motor inertia Check the upper setting ratio in advance limits Select the 2 gain Set the 2 gain adjustment mode 1 Pr PAO8 O0 adjustment mode 1 interpolation mode When the load to motor inertia ratio is different from the design value select the 2 gain adjustment mode 2 Pr PAO8 _ 4 and then set the load to motor inertia ratio manually in Pr PBO6 Set the model loop gain of all the axes to be interpolated to the same value At that time adjust the values to the setting value of Set position loop gain the axis which has the smallest model loop gain Considering the interpolation characteristic and motor status e Fine adjustment fine adjust the model loop gain and response level setting Check the load to motor inertia ratio 6 NORMAL GAIN ADJUSTMENT 4 Parameter adjustment Pr PBO7 Model loop gain This parameter determines the response level of the position control loop Increasing the value improves tr
151. ed stop 2 Qn the torque control mode the forced stop deceleration function cannot be used Note 2 Model speed command 0 and equal to or less than zero speed I Servo motor speed Ormin eege porem Base circuit ON Energy supply to the servo motor OFF Forced stop command Disabled ON l from controller or EM2 g Forced stop 2 Enabled OFF MBR ON Electromagnetic Note 1 brake interlock OFF ON no alarm ALM Malfunction OFF alarm Note 1 ON The electromagnetic brake is not activated OFF The electromagnetic brake is activated 2 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor c Alarm occurrence The operation status during an alarm is the same as section 3 7 d Power off Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake 0 r min ON HKC gt MBR ON Electromagnetic Note 2 brake interlock OF Base circuit F q Operation delay time of Alarm No alarm the electromagnetic brake AL 10 Undervoltage Alarm P Rd mmm ower su ad OFF Note 1 Variable according to the operation status 2 ON The electromagnetic brake is not activated OFF The electromagnetic brake is activated 3 SIGNALS AND WIRING e
152. enabled disabled of deceleration to a stop for when a hot line forced stop signal is received 0 Disabled 2 Enabled This parameter is used by servo amplifier with software version B6 or later For manufacturer setting D App 17 APPENDIX App 9 Optional data monitor function The optional data monitor function is used to monitor data in the servo amplifier with the servo system controller With the optional data monitor the following data types of registered monitor can be set For details of usage and others refer to the manuals for servo system controllers Effective load ratio The continuous effective load current is displayed Ph Ee ee Peak load ratio The maximum torque generated is displayed The highest value in the past 15 s is displayed with the rated torque being 100 96 Position feedback Encoder position within one revolution The position in servo motor side 1 revolution is displayed in the encoder pulse unit When the value exceeds the maximum number of pulses it resets to 0 Encoder multiple revolution counter The travel distance from the home position 0 is displayed as multi revolution counter value of the absolution position encoder in the absolution position detection system Load inertia moment ratio The set ratio of the load inertia moment to the servo motor shaft inertia moment is displayed Model loop gain The voltage of main circuit converter between P and N is displayed Module power consumpti
153. enables the setting of the switch 4 STARTUP 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 system the system will not operate properly The control axes may be set independently of the SSCNET III cable connection sequence Table 4 1 shows control axis numbers corresponding to the axis selection rotary switch to set the control axis number Axis selection rotary switch SW1 4 STARTUP 4 3 2 Scrolling display 1 Normal display When there is no alarm the axis No and blank are displayed in rotation After 1 6 s Blank After 0 2 s Ed b a Status Axis No 1 digit 2 digits b Indicates ready off and servo off status C Indicates ready on and servo off status d Indicates ready on and servo on status 2 Alarm display When an alarm occurs the alarm number two digits and the alarm detail one digit are displayed following the status display For example the following shows when AL 32 Overcurrent is occurring After 0 8 s After 0 8 s Blank After 0 2 2 a wu we we P 0 Il sl 1 sel sl F UL Uff A s i e WA E d e d Status Axis No Alarm No Alarm detail 1 digit 2 digits 2 digits 1 digit n Indicates that an alarm is occu
154. ended that generated torque during operation be under 90 of the maximum torque of the servo motor 6 1 Different adjustment methods 6 1 1 Adjustment on a single servo amplifier The following table shows the gain adjustment modes that can be set on a single servo amplifier For gain adjustment first execute Auto tuning mode 1 If you are not satisfied with the result of the adjustment execute Auto tuning mode 2 and Manual mode in this order 1 Gain adjustment mode explanation Cain adjustment mode Pr PAO8 setting Estimation of load to motor Automatically set Manually set inertia ratio parameters parameters Auto tuning mode 1 LH Always estimated GD2 Pr PBO6 RSP Pr PAO9 initial value PG1 Pr PBO7 PG2 Pr PBOS VG2 Pr PBO9 VIC Pr PB10 Auto tuning mode 2 Fixed to Pr PBO6 value PG1 Pr PBO7 GD2 Pr PBO6 PG2 Pr PBOS RSP Pr PAO9 VG2 Pr PB09 VIC Pr PB10 Manual mode GD2 Pr PBOG PG1 Pr PBO7 PG2 Pr PBOS VG2 Pr PBO9 VIC Pr PB10 2 gain adjustment mode 1 Always estimated GD2 Pr PBO6 PG1 Pr PBO7 interpolation mode PG2 Pr PBO8 RSP Pr PAO9 VG2 Pr PBO9 VIC Pr PB10 2 gain adjustment mode 2 Fixed to Pr PBO6 value PG2 Pr PBOS GD2 Pr PBOG VG2 Pr PBO9 PG1 Pr PBO7 VIC Pr PB10 RSP Pr PAO9 6 NORMAL GAIN ADJUSTMENT 2 Adjustment sequence and mode usage In
155. ength 0 15 m to 3 m Refer to section 11 1 2 MR J3BUS_M A Cable length 5m to 20m Refer to section 11 1 2 MR J3BUS_M B Cable length 30 m to 50 m Refer to section 11 1 2 MR J3USBCBL3M Cable length 3 m MR CCN1 11 OPTIONS AND PERIPHERAL EQUIPMENT Connector for CNP1 09JFAT SAXGDK H5 0 JST Applicable wire size AWG 18 to 14 Insulator OD to 3 9 mm Ogg Open tool J FAT OT JST Connector for CNP1 07JFAT SAXGFK XL JST Applicable wire size AWG 16 to 10 Insulator OD to 4 7 mm Open tool J FAT OT EXL JST Connector for CNP2 03JFAT SAXGFK XL JST Applicable wire size AWG 16 to 10 Insulator OD to 4 7 mm Connector PF 2D103 JAE Connector PF 2D103 JAE d Connector CF 2D103 S JAE Connector CF 2D103 S JAE CN5 connector mini B connector 5 pins Personal computer connector A connector Connector 10120 3000PE Shell kit 10320 52F0 008 3M or equivalent PS7DW 20V14B F Toho Technology C MR J2HBUS_M 1 il The junction terminal block PS7DW 20V14B F is not an option To use the junction terminal block option MR J2HBUS_M is necessary Refer to section 11 3 for details 11 3 No Productrame Med ooo Applicaton Supplied with servo amplifiers of 1 kW or less Supplied with servo amplifiers of 2 kW and 3 kW Standard cord i
156. ep pressing the Forward CCW button Keep pressing the Reverse CW button Release the Forward CCW or Reverse CW button Click the Forced Stop button The check box Rotation only while the CCW or CW button is being pushed is unchecked Forward rotation start Click the Forward CCW button Reverse rotation start Click the Reverse CW button Click the Stop button Forced stop Click the Forced Stop button 4 11 4 STARTUP 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 Exercise control on the positioning operation screen of MR Configurator2 1 Operation pattern Initial value Setting range Travel distance pulse 0 to 99999999 Speed r min 0 to maximum speed Acceleration deceleration 0 to 50000 time constant ms Fwd rot CCW to rev rot CW Repeat pattem Fwd rot CCW to Fwd rot CCW to fwd rot CCW rev rot CW Rev rot CW to fwd rot CCW Rev rot CW to rev rot CW Dwell time s d 0 1 to 50 0 Number of repeats time 1 to 9999 2 Operation method Click the Forward CCW button Click the Reverse CW button Click the Pause button Click the Stop button Click the Forced Stop button c Program op
157. equence POINT Q 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 1 Configure the power supply circuit that turns off the magnetic contactor after an alarm occurs on the controller side b The servo amplifier receives the servo on command within 3 s to 4 s after the power supply is Switched on Refer to 2 of this section 2 Timing chart Servo on command accepted 3sto4s ON H I Power supply OFF ON i Base circuit I OFF l 95 ms 10ms R BD ms Servo on command ON f f from controller OFF 3 14 3 SIGNALS AND WIRING 3 3 3 Wiring CNP1 and CNP2 Q For the wire sizes used for wiring refer to section 11 6 For the wiring to CNP1 and CNP2 use servo amplifier power connectors packed with the amplifier or optional connectors refer to section 11 1 1 1 Connector a MR JE 10B to MR JE 100B Servo amplifier D CNP1 0000000 Table 3 1 Connector and applicable wire Applicable wire i Connector Receptacle assembly EE Stripped Open tool Maniu CNP1 09JFAT SAXGDK H5 0 AWG 18 to 14 3 9 mm or shorter 9 JFAT OT b MR JE 200B MR JE 300B Servo amplifier CNP1 h UO OU I A l CNP2 4 7
158. er gain switching Set the resonance frequency for the vibration suppression control 2 for when the gain switching is enabled When a value less than 0 1 Hz is set the value will be the same as that of Pr PB53 To enable this setting select 3 inertia mode _ selection in Pr PA24 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode 3 Vibration suppression control 2 tuning mode selection in Pr PBO2 is Manual setting _ _ 2 5 Gain switching selection in Pr PB26 is Control command from controller is enabled _ _ 1 Switching during driving may cause a shock Always switch gain after the servo motor stops Vibration suppression control 2 Vibration frequency damping after gain switching Set a damping of the vibration frequency for the vibration suppression control 2 for when the gain switching is enabled To enable this setting select 3 inertia mode __ _ 1 of Vibration suppression mode selection in Pr PA24 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode ____ 3 Vibration suppression control 2 tuning mode selection in Pr PB02 is Manual setting _ _ 2 y Gain switching selection in Pr PB26 is Control command from controller is enabled _ _ 1 Switching during driving may cause a shock Always switch gain
159. eration Positioning operation can be performed in two or more operation patterns combined 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 Exercise control on the program operation screen of MR Configurator2 For full information refer to the MR Configurator2 Installation Guide Click the Operation Start button Click the Pause button Click the Stop button Forced stop Click the Forced Stop button d Output signal DO forced output Output signals can be switched on or off forcibly independently of the servo status This function is used for output signal wiring check etc Exercise control on the DO forced output screen of MR Configurator2 4 12 4 STARTUP 2 Operation procedure 1 Set 1 in Pr PCO5 and cycle the power When initialization is completed the decimal point on the first digit will flicker After 1 6 s n t 4 Bu H Flickering After 0 2 s When an alarm or warning also occurs during the test operation the decimal point on the first digit will flicker as follows After 0 8 s After 0 8 s del EIER D vi Flickering X Flickering After 0 2 s 2 Start operation with the personal computer 4 5 2 Motor less operation in the controller
160. erm of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center for details Exclusion of responsibility for compensation against loss of opportunity secondary loss etc Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and the Product and any other operations conducted by you Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Application and use of
161. error 2 1 1 8 2 Alarm list BE i 1 o o o wo N Cc Encoder initial communication i Process error 1 Encoder initial communication i Process error 2 Encoder initial communication Process error 3 Encoder initial communication Process error 4 i Process error 5 Encoder initial communication Process error 6 A A A o o o o o o D gt m V d leit EIERE ajl a o l mn d 1 3 Boardenor2 4 Boarders 5 Boardenors EMEN LN H B Borders 9 Memory error 3 1 Flash ROM error 1 Flash ROM 19 2 Flash ROM error 2 Servo motor 1A 1 Servo motor combination error 1 combination error 1E Encode initial 1E 1 Encoder malfunction communication error 2 1F Fn oder initial 1F 1 Incompatible encoder communication error 3 Ko Encoder initial communication 16 7 Transmission data error 3 3 4 5 6 7 A 8 TROUBLESHOOTING Stop Alarm deactivation Detail 3 method Name Detail name CPU Power No Note 2 reset cycling 3 Encoder normal communication 20 1 i Receive data error 1 Encoder normal communication Receive data error 2 Encoder normal communication 20 3 Receive data error 3 0 5 Encoder normal communication Encoder normal i Transmission data error 1 communication error 1 06 Encoder normal communication j Transmission data error 2 N o N Encoder normal communication 0 es Transmissi
162. ertical axis freefall prevention function is performed when all of the following conditions are met 1 Position control mode 2 The value of the parameter is other than O 3 The forced stop deceleration function is enabled 4 An alarm occurs or EM2 turns off when the servo motor speed is zero speed or less 5 MBR Electromagnetic brake interlock was enabled in Pr PD07 and the base circuit shut off delay time was set in Pr PCO2 5 PARAMETERS Initial Name and function value unit Setting range Error excessive warning level 0 0 to Set an error excessive warning level rev 1000 To enable the parameter select Enabled 1 of AL 9B Error excessive warning selection in Pr PCO5 You can change the setting unit with Error excessive alarm error excessive warning level unit selection in Pr PCO6 Set the level in rev unit Setting 0 will apply 1 rev Setting over 200 rev will be clamped with 200 rev When an error reaches the set value AL 9B Error excessive warning will occur When the error decreases and becomes lower than the set value the warning will be canceled automatically The minimum pulse width of the warning signal is 100 ms Set values to satisfy the following condition Pr PC38 Error excessive warning level Pr PCO1 Error excessive alarm level AL 52 Error excessive will occur first when you set as follows Pr PC38 Error excessive warning level 2 Pr PCO1 Error excess
163. es 500 Volts Maximum c Overload protection characteristics The MR JE servo amplifiers have solid state servo motor overload protection It is set on the basis full load current of 12096 rated current of the servo amplifier App 6 APPENDIX 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 4 3 for the proper connection e Branch circuit protection For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installation in Canada branch circuit protection must be provided in accordance with the Canada Electrical Code and any applicable provincial codes 4 South Korea compliance This product complies with the Radio Wave Law KC mark Please note the following to use the product 9 7 ze AFTE AB d We SE7 7 g 3E A HS AAS Ze 9 AS e bd BEEP 7p83 9 AAAA ARS SHE AS SAO z su The product is for business use Class A and meets the electromagnetic compatibility requirements The seller and the user must note the above point and use the product in a place except for home App 4 1 4 General cautions for safety protection and protective measures Observe the following items to ensure proper use of the MELSERVO MR JE servo amplifiers 1 For installing systems only qualified personnel
164. es 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 Cabinet Cabinet Yj Yj 100 mm or more 100 mm or more 10 mm or more 1 mm i RID mm B8B TT 888 UK 888 0 aaa rz 2280 30 mm ail aH 30 mm Rm 30 mm Top or more E E or more or more kl m i m D OC 1 O T E E i Bottom f mm or more 40 mm or more Leaving clearance Mounting closely 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 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
165. es correctly Refer to section 4 5 Test operation of the servo For the test operation with the servo motor disconnected from the machine motor alone by commands and operated at the speed as low as possible give commands to the servo amplifier and check whether the servo motor rotates correctly v Test operation with the servo After connecting the servo motor with the machine check machine motions motor and machine connected with sending operation commands from the servo system controller MM Gain adjustment Adjust gains to optimize the machine motions Refer to chapter 6 v Actual operation v Stop Stop giving commands and stop operation 4 STARTUP 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 Refer to section 1 3 b Connection of the servo amplifier and servo motor 1 The servo amplifier power output U V and W should match in phase with the servo motor power input terminals U V and W Servo amplifier Servo motor 2 The power supplied to the servo amplifier should not be connected to the power output U V and W Doing so will cause failure of the connected servo amplifier and servo motor
166. ession control settings are changed according to the conditions selected by Pr PB26 Gain switching function and Pr PB27 Gain switching condition GD2 Pr PBO6 GD2B Pr PB29 PG1 Pr PBO7 PG1B Pr PB60 PG2 Pr PBO8 PG2B Pr PB30 VG2 Pr PBO9 VG2B Pr PB31 VIC Pr PB10 VICB Pr PB32 Control command from controller Command pulse frequency Droop pulses Model speed CDL Pr PB27 Changing Enabled PG1 value Enabled PG2 value Enabled VG2 value Enabled VIC value VRF11 Pr PB19 VRF11B Pr PB33 VRF12 Pr PB20 VRF12B Pr PB34 VRF13 Pr PB21 VRF13B Pr PB35 VRF14 Pr PB22 VRF14B Pr PB36 VRF21 Pr PB52 VRF21B Pr PB56 VRF22 Pr PB53 VRF22B Pr PB57 VRF23 Pr PB54 VRF23B Pr PB58 VRF24 Pr PB55 VRF24B Pr PB59 BLAU 7 14 TIT dc Enabled VRF11 value Enabled VRF12 value Enabled VRF13 value Enabled VRF14 value Enabled VRF21 value Enabled VRF22 value Enabled VRF23 value Enabled VRF24 value 7 SPECIAL ADJUSTMENT FUNCTIONS 7 2 3 Parameter When using the gain switching function always select Manual mode __ _ 3 of Gain adjustment mode selection in Pr PAO8 Auto tuning mode The gain switching function cannot b
167. eters are automatically adjusted in the auto tuning mode 2 Symbol PBO7 Model loop gain PBO8 Position loop gain PBO9 Speed loop gain PB10 Speed integral compensation 6 18 6 NORMAL GAIN ADJUSTMENT 6 3 2 Auto tuning mode basis The block diagram of real time auto tuning is shown below Load moment Automatic setting of inertia Z Encoder Servo motor Loop gain PG1 PG2 VG2 VIC Current control Command Q Current feedback Position speed feedback Set 0 or 1 to turn on Real time auto tuning section asa ee ee ee eee ee ee ee ee ee l Load to motor l inertia ratio l i estimation section i Switch Speed feedback Pr PA08 Pr seat Pr PBO6 Load to motor inertia ratio olojo Gain adjustment mode selection Response level setting When a servo motor is accelerated or decelerated the load to motor inertia ratio estimation section always estimates the load to motor inertia ratio from the current and speed of the servo motor The results of the estimation are written to Pr PBO6 Load to motor inertia ratio These results can be confirmed on the status display window of MR Configurator2 If you have already known the value of the load to motor inertia ratio or failed to estimate set Gain adjustment mode selection to Auto tuning mode 2 2 in Pr PAO8 to stop the estimation turning
168. etting with Pr PCO1 and for the error Name and excessive warning level setting with Pr PC38 This parameter cannot be used in the speed function column control mode and torque control mode Setting Initial For manufacturer setting 0 1 rev unit 1 0 1 rev unit 2 0 01 rev unit 3 0 001 rev unit Error excessive alarm error excessive warning level unit selection i 5 PARAMETERS Initial Settin No Symbol Name and function value 9 range unit PCO7 ZSP Zero speed 50 0 Set an output range of ZSP Zero speed detection r min to ZSP Zero speed detection has hysteresis of 20 r min 10000 PCO08 OSL Overspeed alarm detection level 0 0 Set an overspeed alarm detection level r min to When you set a value exceeding servo motor maximum speed x 120 the set value will be 20000 clamped When you set 0 the value of servo motor maximum speed x 120 will be set PC17 COP4 Function selection CA Refer to the This is used to select a home position setting condition Name and function column Explanation ne na Selection of home position setting condition 0 Need to pass servo motor Z phase after power on 1 Not need to pass servo motor Z phase after power on For manufacturer setting X PC18 COP5 Function selection C 5 Refer to the Select a condition of AL E9 1 Servo on signal on during main circuit off Name and function column Setting Initial Explanation value For manufacturer settin
169. f this parameter is usually unnecessary When a value other than 0 0 ms is set in this parameter the high pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues 2 Adjustment procedure of the lost motion compensation function The following shows the adjustment procedure of the lost motion compensation function a Measuring the load current Measure the load currents during the forward direction feed and reverse direction feed with MR Configurator2 b Setting the lost motion compensation Calculate the friction torque from the measurement result of a and set a value twice the friction torque in Pr PE44 and Pr PE45 as lost motion compensation load current during feed in the forward rotation direction load current during feed in the reverse rotation direction 2 Friction torque 96 7 c Checking protrusions Drive the servo motor and check that the protrusions are corrected 7 SPECIAL ADJUSTMENT FUNCTIONS d Adjusting the lost motion compensation When protrusions still occur the compensation is insufficient Increase the lost motion compensation by approximately 0 596 until the protrusions are eliminated When notches occur the compensation is excessive Decrease the lost motion compensation by approximately 0 596 until the notches are eliminated Different values can be set as the compensation for each of when the forward rotat
170. frequency notch frequency gain decreasing depth and width E m ER Machine resonance point a2 58 25 o g I rs Frequency E N o H m Notch width LE SS 2 S Y DES depth c mr 5 l Frequency Notch frequency You can set five machine resonance suppression filters at most Parameter that is Parameter e reset with vibration automatically Filter Setting parameter Precaution tough drive adjusted with one function touch tuning Machine resonance PB01 PB13 PB14 The filter can be set automatically with PB01 PB13 PB14 suppression filter 1 Filter tuning mode selection in Pr PBO1 Machine resonance PB15 PB16 PB15 PB15 PB16 suppression filter 2 Machine resonance PB46 PB47 PB46 PB47 suppression filter 3 Machine resonance PB48 PB49 Enabling the machine resonance PB48 PB49 suppression filter 4 suppression filter 4 disables the shaft resonance suppression filter Using the shaft resonance suppression filter is recommended because it is adjusted properly depending on the usage situation The shaft resonance suppression filter is enabled for the initial setting Machine resonance PB50 PB51 Enabling the robust filter disables the PB51 suppression filter 5 machine resonance suppression filter 5 The robust filter is disabled for the initial setting 7 SPECIAL ADJUSTMENT FUNCTIONS 2 Parameter a Machine resonance suppression filter 1 Pr PB13 and Pr PB14 Set the notch frequency notch de
171. frica MITSUBISHI ELECTRIC AUTOMATION CHINA LTD No 1386 Hongqiao Road Mitsubishi Electric Automation Center Shanghai China SETSUYO ENTERPRISE CO LTD 6F No 105 Wugong 3rd Road Wugu District New Taipei City 24889 Taiwan R O C MITSUBISHI ELECTRIC AUTOMATION KOREA CO LTD 7F 9F Gangseo Hangang Xi tower A 401 Yangcheon ro Gangseo Gu Seoul 157 801 Korea MITSUBISHI ELECTRIC ASIA PTE LTD 307 Alexandra Road Mitsubishi Electric Building Singapore 159943 MITSUBISHI ELECTRIC FACTORY AUTOMATION THAILAND CO LTD 12th Floor SV City Building Office Tower 1 No 896 19 and 20 Rama 3 Road Kwaeng Bangpongpang Khet Yannawa Bangkok 10120 Thailand PT MITSUBISHI ELECTRIC INDONESIA Gedung Jaya 11th Floor JL MH Thamrin No 12 Jakarta Pusat 10340 Indonesia MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01 04 10th Floor Vincom Center 72 Le Thanh Ton Street District 1 Ho Chi Minh City Vietnam MITSUBISHI ELECTRIC INDIA PVT LTD Pune Branch Emerald House EL 3 J Block M I D C Bhosari Pune 411026 Maharashtra India MITSUBISHI ELECTRIC AUSTRALIA PTY LTD 348 Victoria Road P O Box 11 Rydalmere N S W 2116 Australia Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel
172. g AL E9 1 Servo on signal on during main circuit off selection 0 Detection with ready on and servo on command 1 Detection with servo on command PC20 COP7 Function selection C 7 Refer to the Select a detection method of AL 10 2 Bus voltage drop Name and function column Setting Initial Explanation value For manufacturer setting Undervoltage alarm selection Select the alarm and warning that occurs when the bus voltage drops to the undervoltage alarm level 0 AL 10 2 occurs regardless of the servo motor speed 1 AL E9 1 occurs when the servo motor speed is 50 r min or less and AL 10 2 occurs when the servo motor speed is over 50 r min For manufacturer setting PC21 BPS _ Alarm history clear Refer to the Clear the alarm history Name and function column Explanation Initial value Alarm history clear selection 0 Disabled 1 Enabled When you select Enabled the alarm history will be cleared at next power on After the alarm history is cleared the setting is automatically disabled X 5 PARAMETERS Initial Settin No Symbol Name and function value g unit range PC24 RSBR Forced stop deceleration time constant 100 0 to Set a deceleration time constant for the forced stop deceleration function ms 20000 Set the time taken from the rated speed to 0 r min in ms unit Setting 0 will be 100 ms Dynamic brake Rated speed 4 P Forced stop deceleration deceleration Ser
173. g System Microsoft Windows 7 Home Premium Operating System Microsoft Windows 7 Starter Operating System Microsoft Windows Vista Enterprise Operating System Note 1 2 3 4 and 5 Microsoft Windows Vista Ultimate Operating System Personal computer Microsoft Windows Vista Business Operating System Microsoft Windows Vista Home Premium Operating System Microsoft Windows Vista Home Basic Operating System Microsoft Windows XP Professional Operating System Service Pack3 Microsoft Windows XP Home Edition Operating System Service Pack3 CPU Desktop personal computer Intel Celeron processor 2 8 GHz or more recommended Laptop personal computer Intel Pentium M processor 1 7 GHz or more Memory 512 MB or more for 32 bit OS 1 GB or more for 64 bit OS recommended Free space on Communication Windows Internet Explorer 4 0 or higher One whose resolution is 1024 x 768 or more and that can provide a high color 16 bit display Display Connectable with the above personal computer Keyboard Connectable with the above personal computer Connectable with the above personal computer Connectable with the above personal computer USB cable MR J3USBCBL3M Note 1 On some personal computers MR Configurator2 may not run properly 2 When Windows XP or later is used the following functions cannot be used Windows Program Compatibility mode Fast User Switching Remote Desktop Large Fonts Mode Display property
174. g mode 2 3 Manual mode Manual setting __ _4 2 gain adjustment mode 2 Position loop gain 37 0 1 0 to Set the gain of the position loop rad s 2000 0 Set this parameter to increase the position response to load disturbance Increasing the setting value will also increase the response level to the load disturbance but will be liable to generate vibration and or noise The setting of this parameter will be the automatic setting or manual setting depending on the value set in Pr PAO8 Refer to the following table for details ___ 0 2 gain adjustment mode 1 Automatic setting interpolation mode __ _ 3 Manual mode Manual setting __ _4 2 gain adjustment mode 2 Automatic setting Speed loop gain 823 20 to Set the gain of the speed loop rad s 65535 Set this parameter when vibration occurs on machines having low rigidity or large backlash Increasing the setting value will also increase the response level but will be liable to generate vibration and or noise The setting of this parameter will be the automatic setting or manual setting depending on the value set in Pr PAO8 Refer to the table of Pr PBO8 for details Speed integral compensation 33 7 0 1 to Set the integral time constant of the speed loop ms 1000 0 Decreasing the setting value will increase the response level but will be liable to generate vibration and or noise The setting of this parameter will be the automatic setting or manual setting dependin
175. g on the value set in Pr PAO8 Refer to the table of Pr PBO8 for details 5 19 5 PARAMETERS Initial Settin Symbol Name and function value g range unit VDC PB11 Speed differential compensation 0 to Set the differential compensation 1000 To enable the parameter select Continuous PID control enabled __ 3 _ of PI PID PB12 PB13 PB14 NHQ1 Notch shape selection 1 Refer to the Set forms of the machine resonance suppression filter 1 Name and When Automatic setting _ _ 1 of Filter tuning mode selection is selected in Pr PB01 function column the adjustment result will be reflected Set this parameter manually when the manual setting is selected Es Switching control selection in Pr PB24 Overshoot amount compensation 0 to 100 Set a viscous friction torque in percentage to the rated torque at servo motor rated speed When the response level is low or when the torque is limited the efficiency of the parameter can be lower NH1 Machine resonance suppression filter 1 10 Set the notch frequency of the machine resonance suppression filter 1 to When Automatic setting _ 1 of Filter tuning mode selection is selected in Pr PBO1 4500 the adjustment result will be reflected When you select Manual setting 2 of Filter tuning mode selection in Pr PBO1 the setting value will be enabled For manufacturer setting x Notch depth selection Oh 40 dB
176. g the CNP1 connector from MR JE 40B to MR JE 100B disconnect the lead wires of the regenerative resistor from the CNP1 connector Q 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 Q 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 Servo motor Servo amplifier T Servo motor The connection diagrams in this Instruction Manual are shown for sink interfaces unless stated otherwise Q 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 Servo amplifier 24 V DC DOCOM o 4 H4 DOCOM o Control output 4 Ra Control output signal signal For sink output interface For source output interface 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 QG Conne
177. gnetic interference may be given to the electronic equipment used near the servo amplifier Q Do not install a power capacitor surge killer or radio noise filter optional FR BIF with the power line of the servo motor Q When using a regenerative resistor switch power off with the alarm signal Otherwise a transistor fault or the like may overheat the regenerative resistor causing a fire Do not modify the equipment 3 SIGNALS AND WIRING Q 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 Servo motor Servo motor U ANCAUTION Q Ww G Connecting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction 3 1 Input power supply circuit G 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 amplifiers power supply If a magnetic contactor is not connected continuous flow of a large current may cause a fire when the servo amplifier malfunctions Use an alarm to switch power off Not doing so may cause a fire when a regenerative transistor malfunction or the like may overheat the regenerative resistor Q Before removing the
178. he 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 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 NS 1 1 P LC Servo motor SE i4 Dynamic stac ircui MCCB MC Relay Note 1 brake circuit 1l D Sg We Y T Note 2 a
179. he servo motor operates abnormally use EM2 Forced stop 2 to stop it The content described in this section indicates that the servo amplifier and a personal computer are directly connected By using a personal computer and MR Configurator2 you can execute JOG operation positioning operation output signal forced output and program operation without connecting the servo system controller 4 10 4 STARTUP 4 5 1 Test operation mode in MR Configurator2 QG When 1 issetin Pr PCO5 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 QG When setting Pr PC05 to 1 setit via CN5 USB connector When setting it disconnect the SSCNET III cable or turn off the power supply of the controller 1 Test operation mode a JOG operation JOG 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 Exercise control on the JOG operation screen of MR Configurator2 1 Operation pattern Initial value Setting range Speed r min 0 to maximum speed Acceleration deceleration 1000 0 to 50000 time constant ms 2 Operation method The check box Rotation only while the CCW or CW button is being pushed is checked Ke
180. hout putting forced tension For the tension strength refer to section 11 1 2 Lateral pressure If lateral pressure is added on an optical cable the optical cable itself distorts the internal optical fiber gets stressed and then transmission loss will increase Doing so may cause the breakage of the optical cable As the same condition also occurs at cable laying do not tighten up the optical cable with a thing such as nylon band TY RAP Do not trample it down or tuck it down with the door of the cabinet or others 2 INSTALLATION 7 Twisting If optical fiber is twisted it will 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 CO Disposal When the optical cable cord used for an SSCNET III cable hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas 2 5 Inspection items Q Before starting maintenance and or inspection 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 Z WARN NG confirm it from the front of the servo ampl
181. i Servo amplifier Servo amplifier Servo amplifier First Second Last 11 27 11 OPTIONS AND PERIPHERAL EQUIPMENT 4 Battery replacement procedure Q Before replacing a battery 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 NWARNING En did des when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier Q The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions NCAUTION Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand Q Replacing a battery will erase the absolute position data Q Before replacing batteries check that the new battery is within battery life 11 28 11 OPTIONS AND PERIPHERAL EQUIPMENT a Assembly of the battery unit Q Do not mount new and old batteries together NCAUTION When you change a battery change all batteries at the same time Always mount five MR BAT6V1 batteries to the MR BT6VCASE battery case 1 Things to be prepared Quantity Remark Battery case MR BT6VCASE 1 MR BT6VCASE is a case used for connecting and mounting five MR BAT6V1 batteries Battery MR BAT6V1 Lithium battery primary battery nominal 6 V 2 Disassembly and assembly of the battery case MR BT6VCASE a
182. ic brake interlock turns off after the forced stop deceleration Not using EM2 or EM1 Not using EM2 or EM1 5 11 5 PARAMETERS Initial Settin Name and function value g range unit PA08 ATU Auto tuning mode Refer to the Select the gain adjustment mode Name and function column Gain adjustment mode selection 0 2 gain adjustment mode 1 interpolation mode 1 Auto tuning mode 1 2 Auto tuning mode 2 3 Manual mode 4 2 gain adjustment mode 2 Refer to table 5 2 for details For manufacturer setting Table 5 2 Gain adjustment mode selection Setting Gain adjustment value mode 2 gain adjustment PB06 Load to motor inertia ratio mode 1 interpolation PB08 Position loop gain mode PB09 Speed loop gain PB10 Speed integral compensation Auto tuning mode 1 PB06 Load to motor inertia ratio PBO7 Model loop gain PB0S Position loop gain PB09 Speed loop gain PB10 Speed integral compensation Automatically adjusted parameter Auto tuning mode 2 PB07 Model loop gain PB0S Position loop gain PB09 Speed loop gain PB10 Speed integral compensation 2 gain adjustment Pr PBO8 Position loop gain mode 2 Pr PBO9 Speed loop gain Pr PB10 Speed integral compensation 5 12 5 PARAMETERS Initial Name and function value unit Setting range Auto tuning response Set the auto tuning response Machine characteristic Machine characteristic Seino a Se
183. ic contactor The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 3 SIGNALS AND WIRING 3 For 3 phase 200 V AC to 240 V AC power supply of MR JE 200B or MR JE 300B Qe For MR JE B servo amplifiers the hot line forced stop function is enabled at factory setting For MR J4 B servo amplifiers the hot line forced stop function is disabled at factory setting Qf an alarm occurs the hot line forced stop function outputs hot line forced stop signals to all servo amplifiers before a communication to the controller is cut Then servo amplifiers will be in the AL E7 1 Controller forced stop warning state and will decelerate to a stop Q The hot line forced stop function can be disabled with Pr PA27 Q Configure the power supply circuit which turns off magnetic contactors of all servo amplifiers after detection of alarm occurrence on the controller side at alarm occurrence Emergency stop switch MC Em Note 5 Alarm Servo amplifier Servo motor MCCB MC Note 8 CNP1 200 V AC 4 d CN D T 240 V AC SC ele E Motor X LL ol 013 V N i i W de 500 I Note 1 b P 1 keem Note 7 CN2 Note 2 Encoder Encoder cable Saas Note 6 Power suppl LCN3 a Forced stop 2 CR EM2 CN3 24 V DC Note 9
184. ient temperature of 40 C under rated load Outside the cabinet Inside the cabinet Air flow Fig 10 2 Temperature distribution in an enclosed type cabinet When air flows along the outer wall of the cabinet effective heat exchange will be possible because the temperature slope inside and outside the cabinet will be steeper 10 4 10 CHARACTERISTICS 10 3 Dynamic brake characteristics Q Do not use dynamic brake for stop in a normal operation as it is the function for stop in emergency Q For a machine operating at the recommended load to motor inertia ratio or less the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes Q Be sure to enable EM1 Forced stop 1 after servo motor stops when using EM1 Forced stop 1 frequently in other than emergency 10 3 1 Dynamic brake operation 1 Calculation of coasting distance Fig 10 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use equation 10 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant r varies with the servo motor and machine operation speeds Refer to 2 of this section A working part generally has a friction force Therefore actual coasting distance will be shorter than a maximum coasting distance calculated with the following equation ON EM1 Forced stop 1 OFF
185. if necessary according to the following table Quantity SI metric unit U S customary unit Ti 2 2046 i Length 0 08937 inch 54675 ozinc MEMO CONTENTS 1 FUNCTIONS AND CONFIGURATION 1 1 to 1 12 a Min ue c eit in e i Sent E E n e edu tette 1 1 1 2 Function block diagram oneri te teg e aint tunt aly diel eui drei te aede ned ad ud dv dt 1 2 1 3 Servo amplifier standard specifications enne 1 4 1 4 Combinations of servo amplifiers servo motors and copnirollers cece cece cceececeeeeeeeeeeeeseeeeeeeees 1 5 1 4 1 Combinations of servo amplifiers and servo moiors nnn 1 5 1 4 2 Compatible controller eene enne nn sten nnne nter nn innere 1 5 1 5 Eunction list i eei Hed te c Eee ede ce ea EE 1 6 1 6 Model designaltioli 2 iioii rt d ad tesi reti hha Aad edie ihe ura anke E pepe 1 8 UAE et cc DLE 1 9 1 751 Parts identification c iso eee red t ed ec et dent deo beoe dud 1 9 1 8 Configuration including peripheral equipment cee ceeeccee cece cece eeeeeeaeeeeeeeeeeceaeaeeeeeeesetecnieaeeeeeees 1 11 2 1 Installation direction and clearances cccccececceceeceeeeeeeeeeeneaeceeeeeeesecsacaeceeeeeeesecsacaeceeeeeeeeessnnaeeseees 2 2 2 2 Keep out tee au ET 2 3 2 9 Encoder Cable Stress pi od ero red reel UR FERA Pe FAL RSR dene 2 4 2 4 SSCNET Ill Cable laying ottenere teet tete ntt ette ee etie dee ide a Pide di dd 2 4 2 5 Inspection EE 2 6 2 0 Parts having service lives 2 cedent etai esie edic i
186. ifier To avoid an electric shock only qualified personnel should attempt inspections For repair and parts replacement contact your local sales office Do not perform insulation resistance test on the servo amplifier Otherwise it may CAUTION cause a malfunction Do not disassemble and or repair the equipment on customer side It is recommended that the following points periodically be checked 1 Check for loose terminal block screws Retighten any loose screws 2 Check for scratches and cracks of cables and the like Inspect them periodically according to operating conditions especially when the servo motor is movable 3 Check that the connector is securely connected to the servo amplifier 4 Check that the wires are not coming out from the connector 5 Check for dust accumulation on the servo amplifier 6 Check for unusual noise generated from the servo amplifier 2 INSTALLATION 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 For parts replacement please contact your local sales office Lie guideline Smoothing capacitor Number of power on forced stop by EM1 Relay Forced stop 1 and controller forced stop times 100 000 times 50 000 hours to 70 000 hours Cooling fan
187. ightly to confirm that the wire is surely connected The following shows a connection example of the CNP2 connector for 2 kW and 3 kW 1 Push down the open tool d 3 Release the open tool to fix the wire Re the wire 3 16 3 SIGNALS AND WIRING 3 4 Connectors and pin assignment Q The pin assignment of the connectors is as viewed from the cable connector wiring section Q For the CN3 connector securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell Ground plate The servo amplifier front view shown is that of the MR JE 40B or less Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers CN5 USB connector Refer to section 11 4 CHA CN3 Battery connector EI Refer t tion 11 5 efer to section 1 1 D 2 12 NI 3 13 CN1A 4 14 CN2 Connector for SSCNET III DOCOM MBR x cable for previous servo 2 6 10 Ss amplifier axis 5 15 LG 4 8 CN1B 6 16 MER IMDR Connector for SSCNET III 1 5 9 cable for next servo Di 3 7 BAT amplifier axis 7 17 MR a f 8 18 The frames of the CN2 and CN3 9 19 connectors are connected to the 10 20 protective earth terminal in the servo amplifier DICOM EM2 3 17 3 SIGN
188. ilter as shown below For the command notch filter setting frequency set the closest value to the vibration frequency Hz at Pr PB45 Notch depth value dB 0 400 6 85 7 12 Position Load side Command notch filter enabled the load side Command notch filter setting frequency value Hz 00 _ Disabled 06 375 CD Co Frequency Hz 17 6 16 5 15 6 14 8 etting value etting value are Cales 42 556 Caas Far 22 48 17 Fas 113 Pan 108 48 104 Fac 109 t 7 SPECIAL ADJUSTMENT FUNCTIONS 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 1 You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation 2 You want to increase the gains during settling to shorten the stop settling time 3 You want to change the gains using a control command from a controller to ensure stability of the servo system since the load to motor inertia ratio varies greatly during a stop e g a large load is mounted on a carrier 7 13 7 SPECIAL ADJUSTMENT FUNCTIONS 7 2 2 Function block diagram The control gains load to motor inertia ratio and vibration suppr
189. in switching ms PB33 VRF11B Vibration suppression control 1 Vibration frequency after gain switching Hz PB34 VRF12B Vibration suppression control 1 Resonance frequency after gain Ed Hz Switching PB35 VRF13B Vibration suppression control 1 Vibration frequency damping after gain Switching PB36 VRF14B Vibration suppression control 1 Resonance frequency damping after gain switching PB37 For manufacturer setting 1600 PB38 PB39 000 000 PB40 000 o H Ad PB41 PB42 SCH GE oo 5 PARAMETERS H NHQ3 Notch shape selection 3 0000h B48 Machine resonance suppression filter 4 4500 B49 NHQ4 Notch shape selection 4 0000h NHOS 0000 pasa VRF23 PB57 VRF22B Vibration suppression control 2 Resonance frequency after gain switching PB58 VRF23B Vibration suppression control 2 Vibration frequency damping after gain Switching PB59 VRF24B Vibration suppression control 2 Resonance frequency damping after gain switching PB60 PG1B Model loop gain after gain switching 00 rad s For manufacturer setting 5 1 3 Extension setting parameters Pr PC epe e O efe value Poor ERZ Emorexcessweaameve 9 m eo wes Elecromagne cbrakesequenceoupu o ms pcos gt Formanufacturerseting O o 0000 0020 0000 0000 ER PCOB OSL Ovempeedaamdetedionewd 1 o mm For manufacturer setting 0000h 0
190. ing the rated torque as 100 Lost motion filter setting 0 0 to Set the time constant of the lost motion compensation filter in units of 0 1 ms 0 1 ms 30000 When 0 is set values set in Pr PE44 and Pr PE45 are used for compensation When a value other than 0 is set the high pass filter output value of the set time constant is used for compensation and the lost motion compensation amount is held Torque offset 0 10000 Set this parameter to cancel unbalanced torque of the vertical axis Set this parameter 0 01 to considering the rated torque of the servo motor as 100 10000 The torque offset does not need to be set for a machine not generating unbalanced torque Lost motion compensation positive side compensation value selection 0 0 to Set the lost motion compensation amount for when the reverse rotation CW switches to 0 01 30000 The torque offset set with this parameter will be enabled in the position control mode speed control mode and torque control mode Input commands considering the torque offset in the torque control mode Lost motion compensation function selection Refer to the Select the lost motion compensation function Name and function column value value Bee Lost motion compensation selection Oh 0 Lost motion compensation is disabled 1 Lost motion compensation is enabled Lost motion compensation non sensitive band unit setting 0 1 pulse unit 1 1 kplulse unit For manufacturer setting Los
191. ings Malfunction can be assigned to certain pins of the CN3 connector Output signal DO forced Output signal can be forced on off independently of the servo status Section 4 5 1 output Use this function for checking output signal wiring etc 1 d Jog operation positioning operation motor less operation DO forced output and Test operation mode program operation Section 4 5 MR Configurator2 is necessary for this function MR Configurator2 Using a personal computer you can perform the parameter setting test operation Section 11 4 monitoring and others Gain adjustment is performed just by one click on a certain button on MR One touch tuning Configurator2 Section 6 2 MR Configurator2 is necessary for this function This function makes the equipment continue operating even under the condition that i an alarm occurs Toughdrive function The tough drive function includes two types the vibration tough drive and the Section 7 3 instantaneous power failure tough drive ETE E T 1 FUNCTIONS AND CONFIGURATION Function Description Detailed explanation This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the Graph button However the drive recorder will not operate on the following conditions 1 You are using the graph function
192. integral compensation 7 Increase the model loop gain and return the gain slightly if Increase the model loop overshoot takes place gain If the gains cannot be increased due to mechanical system Suppression of machine resonance or the like and the desired response cannot be resonance achieved response may be increased by suppressing resonance Refer to section 7 1 1 and with the adaptive tuning mode or machine resonance 7 1 2 suppression filter and then executing steps 3 to 7 9 While checking the motor status fine adjust each gain Fine adjustment 6 NORMAL GAIN ADJUSTMENT c Parameter adjustment 1 Pr PBO9 Speed loop gain This parameter determines the response level of the speed control loop Increasing the setting increases the response level but the mechanical system is liable to vibrate The actual response frequency of the speed loop is as indicated in the following expression Speed loop gain 1 Load to motor inertia ratio x 21r Speed loop response frequency Hz B Pr PB10 Speed integral compensation To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the speed integral compensation set the time constant of this integral control Increasing the setting lowers the response level However if the load to motor inertia ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate
193. ion CCW switches to the reverse rotation CW and when the reverse rotation CW switches to the forward rotation CCW Compensation Travel 4 direction The locus before compensation The locus after compensation e Adjusting the lost motion compensation timing When the machine has low rigidity the speed loop gain is set lower than the standard setting value or the servo motor is rotating at high speed quadrant projections may occur behind the quadrant change points In this case you can suppress the quadrant projections by delaying the lost motion compensation timing with Pr PE49 Lost motion compensation timing Increase the setting value of Pr PE49 from 0 by approximately 0 5 ms to adjust the compensation timing Compensation Travel direction Before timing delay compensation After timing delay compensation f Adjusting the lost motion compensation non sensitive band When the lost motion is compensated twice around a quadrant change point set Pr PE50 Lost motion compensation non sensitive band Increase the setting value so that the lost motion is not compensated twice Setting Pr PE50 may changes the compensation timing Adjust the lost motion compensation timing of e Compensation Travel 4 direction Before timing delay compensation After timing delay compensation 7 SPECIAL ADJUS
194. ion function The lost motion compensation function is enabled only in the position control mode The lost motion compensation function corrects response delays caused by a non sensitive band due to friction twist expansion and backlash caused when the machine travel direction is reversed This function contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a quadrant change during circular cutting This function is effective when a high follow up performance is required such as drawing an arc with an X Y table Compensation Travel direction The locus before compensation The locus after compensation 1 Parameter setting Setting Pr PE44 to Pr PE50 enables the lost motion compensation function a Lost motion compensation function selection Pr PE48 Select the lost motion compensation function Pr PE48 Lost motion compensation selection 0 Lost motion compensation disabled 1 Lost motion compensation enabled Unit setting of lost motion compensation non sensitive band 0 1 pulse unit 1 1 kplulse unit b Lost motion compensation Pr PE44 Pr PE45 Set the same value for the lost motion compensation for each of when the forward rotation switches to the reverse rotation and when the reverse rotation switches to the forward rotation When the heights of protrusions differ depending on the travel direction
195. ions such as the power supply capacity and operation delay time of the electromagnetic brake QG Refer to HG KN HG SN Servo Motor Instruction Manual for the selection of a surge absorber for the electromagnetic brake Note the following when the servo motor with an electromagnetic brake is used 1 The brake will operate when the power 24 V DC turns off 2 Turn off the servo on command after the servo motor stopped 3 SIGNALS AND WIRING 1 Connection diagram Servo amplifier nC MBR Servo motor RA1 Note 3 Note 1 B1 DOCOMI 4 MBR M Note 1 Create the circuit in order to shut off by interlocking with the emergency stop switch 2 Do not use the 24 V DC interface power supply for the electromagnetic brake 3 Create the circuit in order to shut off by interlocking with an alarm detected by the controller 2 Setting In Pr PCO2 Electromagnetic brake sequence output set a delay time Tb from MBR Electromagnetic brake interlock off to base circuit shut off at a servo off as in the timing chart in section 3 10 2 3 SIGNALS AND WIRING 3 10 2 Timing chart 1 When you use the forced stop deceleration function Q To enable the function set 2 initial value in Pr PAO4 a Servo on command from controller on off When the servo on command is turned off the servo lock will be released after Tb ms and the servo motor will coast If the electromag
196. ircuit power supplies if the power supply is shut off at occurrence of an alarm servo amplifiers in which the alarm occurred and later cannot communicate with the controller Thus if an alarm occurs the function outputs hot line forced stop signals to all servo amplifiers before a communication to the controller is cut Then servo amplifiers will be in the AL E7 1 Controller forced stop warning state and will be stopped safely Also the function can be disabled with a parameter Parameter setting The hot line forced stop function is enabled at factory setting Setting 1 in Pr PA27 disables the function S Operation description If an alarm occurs in the second axis servo amplifier in a 4 axis system configuration the operation will 99 be as follows Controller Hot line alarm signal transmission a The first axis The second axis The third axis The fourth axis MR JE B MR JE B MR JE B MR JE B Alarm b occurrence Deceleration Deceleration Deceleration Deceleration to a stop c to a stop to a stop d to a stop d Hot line forced stop signal transmission b a The servo amplifier in which an alarm occurs transmits the hot line alarm signal to the controller b Upon receipt of a hot line alarm signal the controller transmits hot line forced stop signals to all servo amplifiers c Upon receipt of a hot line forced stop signal from the controller AL
197. is servo amplifier and then the power supply is off Hot line alarm signal from the servo amplifier in which an alarm occurred Hot line forced stop signal from the controller The first axis servo amplifier x The second axis servo amplifier the servo lt amplifier in which an alarm occurred The third axis servo amplifier lt and later Alarm Power off of the servo amplifier occurrence in which an alarm occurred Signal a No signal H d ON OFF Input power ON supply OFF ret aad No alarm Servo motor i i speed 1 X OMIN e E Ee Pismutpadee ON Power on duration supply OFF eC du e Noalam X AlamNo X Blank Servo motor Stop with dynamic brake Speed 1 Orlmin Input power ON supply OFF Servo amplifier 1 display No alarm X AA I Deceleration Servo motor to a stop speed 3 When the power of the second axis servo amplifier is turned off It is the same as 4 a 3 in this section 4 When power supplies of all servo amplifiers are turned off It is the same as 4 a 4 in this section 3 SIGNALS AND WIRING 3 8 Interfaces 3 8 1 Internal connection diagram Servo amplifier Forced stop 2 CN3 Approximately CN3 6 2 kQ ER EM2 20 L1 3 pocom vires Leia 13 MBR m ot 1
198. is the same as that of MR J3BUS015M c MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table shown in 1 of this section for cable length L SSCNET III cable A Variable dimensions mm MECISBUSSM A to MR IGBUSZONCA MR ISBUS3OM B to MR J3BUSSOM B Protective tube Note Unit mm SS l Approx A Note Dimension of connector part is the same as that of MR J3BUS015M 11 6 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 1 3 Battery cable and junction battery cable 1 Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline in the cable model The cables of the lengths with the numbers are available Cable length Cable model a Bending life Application and remark For connecting to MR MECETSVZCBL M Siandard 2 MR BT6V1CBL_M a Appearance 1 Cable VSVC 7 0 18 x 2C 2 1 7 E Housing PAP 02V 0 Contact SPHD 001G0 P0 5 JST Shell kit 10314 52F0 008 3M or equivalent b Internal wiring diagram 7 BT 14 LG Plate SD 3 MR BT6V2CBL_M a Appearance 2 5 1 Cable 4 4 VSVC 710 18 x 2C d N d 2 Cabe 3 Connector Housing PAP 02V 0 a 4 Connector 4 Connector Contact SPHD 001G0 P0 5 JST 5 Connector Housing PALR 02VF Contact SPAL 001T P0 5 JST
199. it or the speed to 150 r min or higher at the time of distance is set not to increase the servo motor load to motor inertia ratio estimation and then speed to 150 r min or higher at the time of execute the one touch tuning Set a load to motor inertia ratio estimation permissible travel distance to four or more revolutions as a guide value Load to motor inertia ratio will be estimated when 0000 or 0001 is set in Pr PAO8 Auto tuning mode at the start of one touch tuning If the permissible travel distance is short and the servo motor speed cannot be increased to 150 r min or higher select Auto tuning mode 2 2 Manual mode ___ 3 or 2 gain adjustment mode2 A of Gain adjustment mode selection in Pr PA08 An overspeed alarm detection level is set so When estimating the load to motor inertia that the servo motor speed becomes 150 ratio set the overspeed alarm detection level r min or less at the time of load to motor so that the speed becomes 150 r min or inertia ratio estimation more The torque limit has been set to O Set the torque limit value to greater than 0 C008 Stop signal EM2 was turned off during one touch tuning in Review the one touch tuning start position the amplifier command method and permissible travel distance for the amplifier command method After ensuring safety turn on EM2 C009 Parameter Parameters for manufacturer setting have Return the parameters for manufacturer been chang
200. itching Vibration suppression control 1 Vibration frequency after gain switching Vibration suppression control 1 Resonance frequency after gain switching Vibration suppression control 1 Vibration frequency damping after gain switching Vibration suppression control 1 Resonance frequency damping after gain switching Vibration suppression control 2 Vibration frequency after gain switching Vibration suppression control 2 Resonance frequency after gain switching Vibration suppression control 2 Vibration frequency damping after gain switching Vibration suppression control 2 Resonance frequency damping after gain switching 7 SPECIAL ADJUSTMENT FUNCTIONS a Pr PBO6 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 b Pr PB19 to Pr PB22 Pr PB52 to Pr PB55 These parameters are the same as in ordinary manual adjustment You can switch the vibration frequency resonance frequency vibration frequency damping and resonance frequency damping by switching gain during motor stop c Pr PB29 Load to motor inertia ratio after gain switching Set the load to motor inertia ratio after gain switching If the load to motor inertia ratio does not change set it to the same value as Pr PBO6 Load to motor inertia ratio
201. ithin battery life a Mounting method Pull down the battery along the rail For MR JE 100B or less wrap the excess wire around a of the battery 11 23 11 OPTIONS AND PERIPHERAL EQUIPMENT For MR JE 200B or more connect the battery cable as follows Install a battery and route the battery cable along the right side of the battery When connecting the encoder cable to CN2 connector prevent the battery cable from being pinched Install a battery and connect the plug to the CNA connector b Removal procedure Pulling out the connector of the battery without the lock release lever pressed NCAUTION may damage the CN4 connector of the servo amplifier or the connector of the battery While pressing the lock release lever pull out the connector Pull the lock release lever to push up the battery 11 24 11 OPTIONS AND PERIPHERAL EQUIPMENT 4 Replacement procedure of the built in battery When the MR BAT6V1SET A reaches the end of its life replace the MR BAT6V1 battery in the MR BAT6V1SET A Hold the tab and open the cover Replace the battery with a new MR BAT6V1 battery Press the cover until it is fixed with the projection of the locking part to close the cover Projection 4 places 11 25 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 5 3 MR BT6VCASE battery case Q The battery unit consists of an MR BT6VCASE battery case and five MR BAT6V batteries
202. ive alarm level 5 2 4 I O setting parameters Pr PD Initial Settin No Symbol Name and function value g range unit Table 5 7 Selectable output devices PD07 DO1 Output device selection 1 Refer to the You can assign any output device to the CN3 13 pin Name and function column Xx Device selection Jess iex For manufacturer setting pup ES 00 Awasof 08 wowo 09 BWNG Bateywammg MTTR During tough drive 5 PARAMETERS Initial Name and function value unit Input filter setting Refer to the Select the input filter Name and function column Setting Initial digit Explanation vale Input signal filter selection Refer to the servo system controller instruction manual for the setting If an external input signal causes chattering due to noise etc use the input filter to suppress it 0 None 1 0 888 ms 2 1 777 ms 3 2 666 ms 4 3 555 ms Setting range For manufacturer setting x _ PD13 DOP2 Function selection D 2 Refer to the Select a condition to turn on INP In position Name and function column Setting Initial EH For manufacturer setting oh E INP In position ON condition selection Select a condition to turn on INP In position 0 Within the in position range 1 Within the in position range and a command has been issued EM When a command is not input for 1 33 ms the command is considered to have bee
203. ive companies 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 Product arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit are repaired or replaced Term The term of warranty for Product is twelve 12 months after your purchase or delivery of the Product to a place designated by you or eighteen 18 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Limitations 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon your request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set f
204. l 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 Q 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 Q 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 Q Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the servo amplifier and servo motor 3 To prevent injury note the following A CAUTION Q Only the voltage specified in the Instructio
205. l mode was selected in the control modes During one touch tuning the control mode was attempted to change from the position control mode to the speed control mode One cycle time during the operation has been over 30 s The command speed is slow 3 The operation interval of the continuous operation is short 1 The estimation of the load to motor inertia ratio at one touch tuning was a failure 2 The load to motor inertia ratio was not estimated due to an oscillation or other influences 6 14 NNNM Increase the in position range or overshoot permissible level When executing one touch tuning in the user command method turn to servo on and then execute it Prevent the servo amplifier from being the servo off status during one touch tuning Select the position control mode or speed control mode for the control mode from the controller and then execute one touch tuning Do not change the control mode during the one touch tuning Set one cycle time during the operation time from the command start to the next command start to 30 s or less Set the servo motor speed to100 r min or higher Error is less likely to occur as the setting speed is higher When one touch tuning by the amplifier command is used set a permissible travel distance so that the servo motor speed is 100 r min or higher Set a permissible travel distance to two or more revolutions as a guide value to set the servo motor speed to 100 r
206. lace Decrease the speed integral compensation within the vibration Decrease the time free range and return the compensation slightly if vibration takes constant of the speed place integral compensation Increase the position loop gain and return the gain slightly if Increase the position loop vibration takes place gain Increase the model loop gain and return the gain slightly if Increase the model loop overshoot takes place gain If the gains cannot be increased due to mechanical system Suppression of machine resonance or the like and the desired response cannot be resonance achieved response may be increased by suppressing resonance Section 7 1 1 and 7 1 2 with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8 While checking the settling characteristic and motor status fine Fine adjustment adjust each gain Step 1 2 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 system is liable to vibrate The actual response frequency of the speed loop is as indicated in the following expression Speed loop gain 1 Load to motor inertia ratio x 21r Speed loop response frequency Hz Pr PB10 Speed integral compensation To eliminate stationary deviation against a command the speed control loop is under pr
207. load ratio is higher than 60 in MR RB30 forcibly cool the air with a cooling fan 1 0 m min or more 92 mm x 92 mm A cooling fan is not required if the ambient temperature is 35 C or lower A cooling fan is required for the shaded area in the following graph A cooling fan is required Ka ee e A cooling fan is not required 0 Ambient temperature C Configure a sequence which will switch off the magnetic contactor when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120 V AC DC Maximum current 0 5 A 4 8 V DC Maximum capacity 2 4 VA 11 14 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 2 5 Dimensions 1 MR RB12 c U w V G UYU D V Unit mm TE1 terminal block Er G3 6 mounting hole f U a H 40 Ce Ed 36 8 P 15 e SR S pq k reng e 1 rem Applicable wire size 0 2 mm to 2 5 mm AWG 24 to i 12 Tightening torque 0 5 to 0 6
208. ls s 237 4 Se OR RE ee eee Droop pulses pulse 0 100pulses 7777700 TT TTTUUNUN UT Switching time constant disabled Switching at 0 gs eden Gain switching Before switching gain After switching gain Switching at 0 ms CDT 100 ms Switching at Pr PB28 CDT 100 ms only when gain switching off when returning 7 SPECIAL ADJUSTMENT FUNCTIONS 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 PB27 CDL 0 and Pr PB28 CDT 100 ms i SN OFF OFF CDP Gain switching ON After switching gain Return time constant disabled Switching at 0 ms l SE 63 4 PET Before switching gain A l Gain switching gt i CDT 100 ms Switching at Pr PB28 CDT 100 ms only when gain switching on when switching 7 SPECIAL ADJUSTMENT FUNCTIONS 7 3 Tough drive function Enable or disable the tough drive function 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 The tough drive function includes two types the vibration tough drive and the instantaneous power failure tough drive 7 3 1 Vibration tough drive function This function
209. ltage drop in the power 2000 To disable the parameter select Disabled 0 _ of instantaneous power failure tough drive selection in Pr PA20 When Enabled _ 1 of instantaneous power failure tough drive selection is selected in Pr PA20 the power should be off for the setting value of this parameter 1 s or longer before the power is cycled to enable a parameter whose symbol is preceded by or PF31 FRIC Machine diagnosis function Friction judgement speed 0 0 to Set a servo motor speed to divide a friction estimation area into high and low for the friction r min permissi estimation process of the machine diagnosis ble However when 0 is set the value will be half of the rated speed speed When your operation pattern is under the rated speed we recommend that you set half value of the maximum speed with this Maximum speed in operation Forward rotation EES Pr PF31 setting Servo motor Speed 0 r min Operation pattern Reverse rotation direction 6 NORMAL GAIN ADJUSTMENT 6 NORMAL GAIN ADJUSTMENT Qn the torque control mode you do not need to make gain adjustment Q 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 In addition make gain adjustment with a safety margin considering characteristic differences of each machine It is recomm
210. lue in Pr PAO4 1 When the forced stop deceleration function is enabled Alarm occurrence Note Model speed command 0 and equal to or less than zero speed 0 r min HIE I acm a m l X em d ue em md Controller command is not accepted l Base circuit ON Energy supply to OFF the servo motor Servo amplifier display SS No alarm Alarm No l L Electromagnetic Servo motor speed MBR ON brake interlock OFF ON no alarm ALM Malfunction OFF alarm Note The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor 3 SIGNALS AND WIRING 2 When the forced stop deceleration function is not enabled Alarm occurrence Braking by the dynamic brake Servo motor speed l i Dynamic brake Braking by the electromagnetic brake Alarm No T Operation delay time of the electromagnetic brake i Ormin ee E Base circuit ON Energy supply to the servo motor OFF i Servo amplifier display No alarm X MBR ON Electromagnetic brake interlock OFF ON no alarm ALM Malfunction OFF alarm 3 When SSCNET III H communication shut off occurs The dynamic brake may operate depending on the communication shut off status SSCNET III H communication is shut off Note Servo motor speed
211. lue stable Auto tuning conditions are not satisfied Estimation of load to motor inertia ratio is difficult Yes Set Pr PA08 to 2 and set Pr PBO6 Load to motor inertia ratio load to motor mass ratio manually Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfied To 2 gain adjustment mode 2 6 NORMAL GAIN ADJUSTMENT 6 3 4 Response level setting in auto tuning mode Set the response of the whole servo system by Pr PAO9 As the response level setting is increased the track ability and settling time for a command decreases but too high a response level will generate vibration Hence make setting until desired response is obtained within the vibration free range If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100 Hz filter tuning mode selection in Pr PB01 or machine resonance suppression filter in Pr PB13 to Pr PB16 and Pr PB46 to Pr PB51 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 7 1 1 and 7 1 2 for settings of the adaptive tuning mode and machine resonance suppression filter Pr PA09 Machine characteristic Reference Reference Setting Guideline for the setting setting value Res
212. magnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions A CAUTION Q 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 Q Configure an electromagnetic brake circuit so that it is activated also by an external emergency stop Switch Contacts must be opened when ALM Contacts must be opened Malfunction or MBR Electromagnetic with the emergency stop switch brake interlock turns off Servo motor X 2 RA Electromagnetic brake Q When any alarm has occurred eliminate its cause ensure safety and deactivate the alarm before restarting operation Q Provide an adequate protection to prevent unexpected restart after an instantaneous power failure 6 Maintenance inspection and parts replacement CAUTION Q 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 Q When using a servo amplifier whose power has not been turned on for a long time contact your local sales office 7 General instruction Q To illustrate details the equipment in the diagrams of thi
213. me and power supply and load fluctuation function column You can assign MTTR During tough drive to the CN3 13 pin with Pr PDO7 E Vibration tough drive selection 0 Disabled 1 Enabled Selecting 1 suppresses vibrations by automatically changing setting values of Pr PB13 Machine resonance suppression filter 1 and Pr PB15 Machine resonance suppression filter 2 in case that the vibration exceeds the value of the oscillation level set in Pr PF23 Refer to section 7 3 for details Instantaneous power failure tough drive selection 0 Disabled 1 Enabled Selecting 1 avoids triggering AL 10 Undervoltage using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation In Pr PF25 Instantaneous power failure tough drive Detection time set the time until the occurrence of AL 10 1 Voltage drop in the power When 1 is selected for this digit the power should be off for the setting value of Pr PF25 1 s or longer before the power is cycled to enable a parameter whose symbol is preceded by or kn For manufacturer setting PA21 AOP3 Function selection A 3 Refer to the S i i Name and etting Explanation nitia function column 2 value One touch tuning function selection 0 Disabled 1 Enabled When the digit is 0 the one touch tuning with MR Configurator2 will be disabled For manufacturer setting X 5 15 5 PARAMET
214. missible travel distance may be exceeded due to overshoot set a value sufficient to prevent machine collision e When Auto tuning mode 2 Manual mode or 2 gain adjustment mode 2 is selected in Pr PAO8 Auto tuning mode the load to motor inertia ratio will not be estimated An optimum acceleration deceleration command will be generated by Pr PBO6 Load to motor inertia ratio at the start of one touch tuning When the load to motor inertia ratio is incorrect the optimum acceleration deceleration command may not be generated causing the tuning to fail f When one touch tuning is started by using USB communication if the USB communication is interrupted during the tuning the servo motor will stop and the tuning will also stop The parameter will return to the one at the start of the one touch tuning g When one touch tuning is started via the controller if communication between the controller and the servo amplifier or personal computer is shut off during the tuning the servo motor will stop and the tuning will also stop The parameter will return to the one at the start of the one touch tuning h When one touch tuning is started during the speed control mode the mode will be switched to the position control mode automatically The tuning result may differ from the one obtained by executing tuning by using the speed command 6 17 6 NORMAL GAIN ADJUSTMENT 6 3 Auto tuning 6 3 1 Auto tuning mode The servo amplifier h
215. mn Setting Initial digit Explanation valie Model adaptive control selection 0 Enabled model adaptive control 2 Disabled PID control For manufacturer setting oh Em Oh Oh 5 PARAMETERS Initial Settin No Symbol Name and function value Ing Unit range CDP CDL PB26 Gain switching function Refer to the Select the gain switching condition Name and Set conditions to enable the gain switching values set in Pr PB29 to Pr PB36 and Pr function column PB56 to Pr PB60 X Gain switching selection Oh 0 Disabled 1 Control command from controller is enabled 2 Command frequency 3 Droop pulses 4 Servo motor speed Gain switching condition selection 0 Gain after switching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less Gain switching time constant disabled condition selection 0 Switching time constant is enabled 1 Switching time constant is disabled 2 Return time constant is disabled Refer to section 7 2 4 for details PB27 Gain switching condition 10 0 to Set the value of the gain switching command frequency droop pulses or servo motor speed kpulse s 65535 selected in Pr PB26 pulse The set value unit differs depending on the switching condition item Refer to section 7 2 3 r min PB28 CDT Gain switching time constant 1 0 to 100 nbi Set the time constant at which the gains will change in respo
216. munication with the servo system controller is Initializing completion completed Initializing standby The power supply of the servo system controller or previous axis servo amplifier was turned off while the power supply of the servo amplifier is on Ready off The ready off command from the servo system controller was received Servo on The servo on command from the servo system controller was received Servo off The servo off command from the servo system controller was received The alarm No and the warning No that occurred are displayed Refer to chapter 8 Alarm and warning Note 4 A CPU watchdog error has occurred Note 3 Test operation mode Initializing Motor less operation First axis Sixteenth axis 2 indicates the alarm No and the warning No 3 Requires the MR Configurator2 4 Only a list of alarms and warnings is listed in chapter 8 Refer to MELSERVO JE Servo Amplifier Instruction Manual Troubleshooting for details of alarms and warnings 4 STARTUP 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 Qf necessary verify controller programs by using motor less operation Refer to section 4 5 2 for the motor less operation Test
217. n 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 Q Ensure that polarity is correct Otherwise a burst damage etc may occur Q 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 A CAUTION Q Transport the products correctly according to their mass Stacking in excess of the specified number of product packages is not allowed Q Do not hold the lead wire of the built in regenerative resistor when transporting the servo amplifier Q Install the servo amplifier and the servo motor in a load bearing place in accordance with the Instruction Manual Q Do not get on or put heavy load on the equipment Q The equipment must be installed in the specified direction Q Leave specified clearances between the servo amplifier and the cabinet walls or other equipment Q 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
218. n issued For manufacturer setting 5 PARAMETERS Initial Settin No Symbol Name and function value g unit range PD14 DOP3 Function selection D 3 Refer to the Name and Setting Explanation Initial function column ees a E x For manufacturer setting Selection of output device at warning occurrence Select the WNG Warning and ALM Malfunction output status at warning occurrence Servo amplifier output Setting Note 1 Device status value Warning occurrence D Warning occurrence Note 2 Note 1 0 Off 1 On 2 Although ALM is turned off upon occurrence of the warning the forced stop deceleration is performed For manufacturer setting oh oh 5 PARAMETERS 5 2 5 Extension setting 2 parameters Pr PE Initial Name and function value unit PE41 EOPS3 Function selection E 3 Refer to the Name and Setting Explanation Initial function column digit value Robust filter selection 0 Disabled 1 Enabled When you select Enabled of this digit the machine resonance suppression filter 5 set in Pr PB51 cannot be used For manufacturer setting Setting range forward rotation CCW in 0 01 unit while considering the rated torque as 100 Lost motion compensation negative side compensation value selection 0 0 to Set the lost motion compensation amount for when the forward rotation CCW switches to reverse rotation CW in 0 01 unit while consider
219. n the initialization of one touch tuning is completed the following window will be displayed returning to initial value MELSOET Series MR Gonfeurator X LI 1 Returned to the initial values 6 16 6 NORMAL GAIN ADJUSTMENT 6 2 3 Caution for one touch tuning 1 Caution common for user command method and amplifier command method 2 a The tuning is not available in the torque control mode b The one touch tuning cannot be executed while an alarm or warning which does not continue the motor driving is occurring c The one touch tuning cannot be executed during the following test operation mode 1 Output signal DO forced output 2 Motor less operation Caution for amplifier command method a Starting one touch tuning while the servo motor is rotating displays C006 at status in error code and the one touch tuning cannot be executed b One touch tuning is not available during the test operation mode The following test operation modes cannot be executed during one touch tuning 1 Positioning operation 2 JOG operation 3 Program operation 4 Machine analyzer operation 5 Single step feed c After one touch tuning is executed control will not be performed by commands from the servo system controller To return to the state in which control is performed from the servo system controller reset the controller or cycle the power of the servo amplifier d During one touch tuning the per
220. n time constant deceleration time constant will be automatically set so as not to exceed 6096 of the Deceleration time rated torque and the torque limit value set at the start of one touch tuning in the amplifier command method constant Dwell time A dwell time in which the one touch tuning error C004 does not occur will be automatically set 6 NORMAL GAIN ADJUSTMENT 2 Response mode selection Select a response mode from 3 modes in the one touch tuning window of MR Configurator2 z m Axis1 m W Return to value before adjustment _ Return to initial value Setting O User command method Start to operate before pressing Start button Servo motor cannot start in stop status Amplifier command method Set the permissible travel distance and execute the one touch tuning in auto operation Permissible travel distance T 214748364 16777216 pulse 1 2147483647 Encoder pulse unit Servo motor rotation amount 4 0 rev Please do not start when servo motor is rotating Test operation cannot be executed when adjustment starts in amplifier command method A Motor rotates when press the Start button Response mode High mode Execute the response mode for machines with high rigidity Basic mode Execute the response mode for standard machines Low mode Execute the response mode for machines with low rigidity p gt Start Error Code List Adjustment result Settling time Overshoot am
221. nding 2 W 2 is applicable for FR HAL 0 4K to FR HAL 1 5K 3 Maximum dimensions The dimension varies depending on the input output lines 11 9 Relay recommended The following relays should be used with the interfaces Interface Selection example Digital input interface DI 1 To prevent defective contacts use a relay for Relay used for digital input command signals small signal twin contacts Ex Omron type G2A MY Digital output interface DO 1 Small relay with 12 V DC or 24 V DC of rated Relay used for digital output signals current 40 mA or less Ex Omron type MY 11 36 11 OPTIONS AND PERIPHERAL EQUIPMENT 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 equipment to malfunction Since the servo amplifier is an electronic device which handles small signals the following general noise reduction techniques are required Also the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies If peripheral equipment malfunction due to noises produced by the servo amplifier noise suppression measures must be taken The measures will vary slightly with the routes of noise transmission 1 Noise reduction techniques a General reduction techniques Avoid laying power lines input and output cables and signal cables side
222. netic brake is enabled during servo lock the brake life may be shorter Therefore set Tb about 1 5 times of the minimum delay time where the moving part will not drop down for a vertical axis system etc Tb Pr PC02 Electromagnetic brake sequence output N Coasting De NJ Servo motor speed 0 r min N Approx 95 ms i i e ON i i Base circuit 1 OFF ETER ECL ae Approx 95 ms Operation delay time of MBR ON the electromagnetic brake Electromagnetic Note D OFF J bho l brake interlock d l I Servo on command ON i from controller OFF i 1 Ready on command ON from controller EN i OFF i Note 3 l ZER 3 Operation command i from controller D r min l T l Electromagnetic Release brake Activate gt Release delay time and external relay etc Note 2 Note 1 ON The electromagnetic brake is not activated OFF The electromagnetic brake is activated 2 The electromagnetic brake is released after the release delay time of the electromagnetic brake and operation time of the external circuit relay etc For the release delay time of the electromagnetic brake refer to Servo Motor Instruction Manual Vol 3 3 Give the operation command from the controller after the electromagnetic brake is released 3 SIGNALS AND WIRING b Off on of the forced stop command from controller or EM2 Forc
223. ng een mer Drive recorder switching ime seting 9 B pr22 For manufacturrseting E P ee OSCL2 Vibration tough drive function selection 0900 o For manufacturer setting 5 PARAMETERS PF31 FRIC Machine diagnosis function Friction judgement speed 0 r min a CH 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 5 PARAMETERS 5 2 Detailed list of parameters Q Set a value in each x in the Setting digit columns 5 2 1 Basic setting parameters Pr PA Initial Settin Symbol Name and function value g unit range PAO2 REG Regenerative option Refer to the Select a regenerative option Name and Incorrect setting may cause the regenerative option to burn function column If a selected regenerative option is not for use with the servo amplifier AL 37 Parameter error occurs Regenerative option selection 00 No regenerative option is used For a servo amplifier of 200 W or less no regenerative resistor is used For a servo amplifier of 0 4 kW to 3 kW a built in regenerative resistor is used 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 A cooling fan is required For manufacturer setting PAO3 ABS Absolute position detection system Refer to the Set this parameter when using the absolute position detection system Name and function column Setting Initial Absolute position detection system selecti
224. ng ZZ Ko m EN disabled next station warning position warning S stroke limit reached stroke limit reached EH Software limit warning oj oj o Laj N Forward rotation stroke end off Stroke limit warning Reverse rotation stroke end off UJ A ojo o N Excess droop pulse 1 warning Error excessive 3 Excess droop pulse 2 warning warning BA Error excessive warning during 0 torque limit Battery warning F 1 Excessive regeneration e B e E Low battery m 0 1 Excessive regeneration warning warning 44 Thermal overload warning 1 during operation 12 Thermal overload warning 2 during operation 13 Thermal overload warning 3 during operation 4 Thermal overload warning 4 during operation Overload warning 1 4 Thermal overload warning 1 during astop 4 Thermal overload warning 2 during astop 4 Thermal overload warning 3 during astop 18 Thermal overload warning 4 during astop m E Absolute position counter warning 3 2 Absolute position counter warning Encoder absolute positioning counter warning m m A w Cc 4 Parameter setting range error warning Servo forced Stop E6 1 Forced stop warning warning Canitroller forced stop E7 1 Controller forced stop warning warning Cooling fan speed E8 1 Decreased cooling fan speed 0 1 3 6 7 E E E E E E SD SD reduction warning warning VATAEAVAVA WWAVAVAVAVA
225. nit PBO1 FILT Adaptive tuning mode adaptive filter II Refer to the Set the adaptive filter tuning Name and function column Filter tuning mode selection Select the adjustment mode of the machine resonance suppression filter 1 Refer to section 7 1 2 for details 0 Disabled 1 Automatic setting 2 Manual setting For manufacturer setting x _ For manufacturer setting PBO3 TFBGN Torque feedback loop gain 18000 0 to Set a torque feedback loop gain in the continuous operation to torque control mode rad s 18000 Decreasing the setting value will also decrease a collision load during continuous operation to torque control mode Setting a value of 6 rad s or smaller will apply 6 rad s PB04 Feed forward gain 0 0 to 100 Set the feed forward gain 76 When the setting is 10096 the droop pulses during operation at constant speed are nearly zero However sudden acceleration deceleration will increase the overshoot As a guideline when the feed forward gain setting is 10096 set 1 s or longer as the acceleration time constant up to the rated speed PBO2 VRFT Vibration suppression control tuning mode advanced vibration suppression control II Refer to the Set the vibration suppression control tuning Refer to section 7 1 5 for details Name and function column Vibration suppression control 1 tuning mode selection Select the tuning mode of the vibration suppression control 1 0 Disabled 1 Automatic setting
226. not pass the grounding wire through the filter Or the effect of the filter will drop Approx 65 Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1 If the wires are too 933 thick to wind use two or more filters to have the required number of passes as shown in Example 2 Place the line noise filters as close to the servo amplifier as G3 F1 g Appr possible for their best performance Approx 65 Example 1 xample MCCB MC Servo amplifier x Power _ y it L1 supply x m b L2 Line noise L3 filter 9 o Number of passes 4 Example 2 MCCB MC 2 aAA Power y supply 77 E L1 i Line noise L2 filter L3 o Servo amplifier Two filters are used Total number of passes 4 11 41 11 OPTIONS AND PERIPHERAL EQUIPMENT 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 radio frequency bands The FR BIF is designed for the input only 200 V class FR BIF Connection diagram Dimensions Unit mm Make the connection cables as short as possible Grounding is always required Red White Blue Green When using the FR BIF with a single phase power supply always insulate the lead wires that are not used for wiring Leakage current 4 mA Terminal block Servo
227. nse to the conditions set in Pr ms illi PB26 and Pr PB27 PB29 GD2B Load to motor inertia ratio after gain switching 7 00 0 00 to Set the load to motor inertia ratio when gain switching is enabled Multiplier 300 00 This parameter is enabled only when you select Manual mode __ _ 3 of Gain adjustment mode selection in Pr PAO8 PB30 PG2B Position loop gain after gain switching 0 0 0 0 to Set the position loop gain for when the gain switching is enabled rad s 2000 0 When you set a value smaller than 1 0 rad s the value will be the same as the value set in Pr PBO8 This parameter is enabled only when you select Manual mode __ _ 3 of Gain adjustment mode selection in Pr PAO8 PB31 VG2B Speed loop gain after gain switching 0 0 to Set the speed loop gain for when the gain switching is enabled rad s 65535 When you set a value smaller than 20 rad s the value will be the same as the value set in Pr POOL This parameter is enabled only when you select Manual mode _ 3 of Gain adjustment mode selection in Pr PAO8 5 PARAMETERS Initial Setti No Symbol Name and function value Bd Unit g PB32 VICB Speed integral compensation after gain switching 0 0 0 0 to Set the speed integral compensation for when the gain switching is enabled ms 5000 0 When you set a value smaller than 0 1 ms the value will be the same as the value set in Pr PB10 This parameter is enabled only when you sele
228. nside cabinet Standard cable outside cabinet Long distance cable For connection with PC AT compatible personal computer 11 OPTIONS AND PERIPHERAL EQUIPMENT mo Productrame Med o Applicaton 8 Battery cable MR BT6V1CBL M Housing PAP 02V 0 Connector 10114 3000PE For Cable length Contact SPHD 001G0 P0 5 Shell kit 10314 52F0 008 connection 0 3 m or 1 m JST 3M or equivalent it Refer to section 11 1 3 9 Junction battery MR BT6V2CBL_M Housing PAP 02V 0 Housing PALR 02VF For battery cable Cable length Contact SPHD 001G0 P0 5 Contact SPAL 001T P0 5 junction 0 3 mor 1 m JST JST Refer to section 11 1 3 11 4 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 1 2 SSCNET Ill cable Q 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 Q Refer to appendix 6 for a long distance cable over 50 m and ultra long bending life cable 1 Model explanations The numbers in the cable length field of the table indicate the symbol filling the underline in the cable model The cables of the lengths with the numbers are available Cable length Bending M Cablemode BS tte ees MR J3BUS M 015 03 05 1 3 Standara Coa standard cord inside cabinet MR J3BUS_M A 10 20 Standard Using standard cable outside cabinet
229. nsion setting parameters Pr PC Initial Settin No Symbol Name and function value M unit range PCO1 ERZ Error excessive alarm level 0 rev 0 to Set an error excessive alarm level Note 1000 Set the level in rev unit Setting 0 will apply 3 rev Setting over 200 rev will be clamped with 200 rev Note The setting unit can be changed in Pr PCO6 PCO02 MBR Electromagnetic brake sequence output 0 to Set the delay time from when MBR Electromagnetic brake interlock turns off till when the ims 1000 base drive circuit is shut off PC04 COP1 Function selection C 1 Refer to the Select an encoder cable communication method Name and function column Setting Initial For manufacturer setting Encoder cable communication method selection 0 Two wire type 1 Four wire type Incorrect setting will result in AL 16 Encoder initial communication error 1 Or AL 20 Encoder normal communication error 1 will occur PC05 COP2 Function selection C 2 Refer to the Set the motor less operation test operation and AL 9B Error excessive warning Name and function column Motor less operation selection 0 Disabled 1 Enabled Test operation selection 0 Disabled 1 Enabled EE AL 9B Error excessive warning selection 0 AL 9B Error excessive warning is disabled 1 AL 9B Error excessive warning is enabled PCO6 COP3 Function selection C 3 Refer to the Select units for the error excessive alarm level s
230. nstall the line noise filter FR BSF01 on the power lines of the servo amplifier When the cables of peripheral equipment are connected to the servo amplifier to make a closed loop circuit leakage current may flow to malfunction the peripheral equipment If so malfunction may be prevented by disconnecting the grounding cable of the peripheral device 11 38 11 OPTIONS AND PERIPHERAL EQUIPMENT 2 Noise reduction products a Data line filter recommended Noise can be prevented by installing a data line filter onto the encoder cable etc For example ZCAT3035 1330 by TDK ESD SR 250 by NEC TOKIN GRFC 13 by Kitagawa Industries and EO4SRM563218 by SEIWA ELECTRIC are available as data line filters As a reference example the impedance specifications of the ZCAT3035 1330 TDK are indicated below This impedances are reference values and not guaranteed values Impedance O Unit mm 10 MHz to 100 MHz 100 MHz to 500 MHz 39 t1 X D o o a o 34 1 t cable band i TDK i N der H E 21 Qi E m A KC aS Product name Lot number Outline drawing ZCAT3035 1330 b Surge killer recommended Use of a surge killer is recommended for AC relay magnetic contactor or the like near the servo amplifier Use the following surge killer or equivalent rud e H SI Relay Surge killer Surge killer This distance should be short within 20
231. ntroller or contactor previous servo amplifier MC do CN1B Power factor EU improving AC co reactor FR HAL CN1B HT Next servo amplifier CN1A or H0 cap em D Line noise filter FR BSF01 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 PaaS SS SSS SSS Personal computer Note 2 Magnetic contactor MC Power factor improving AC reactor FR HAL eh i CN3 Junction terminal block Line noise filter FR BSF01
232. o e fo 8 TROUBLESHOOTING Note 1 2 3 4 Leave the servo amplifier for about 30 minutes of cooling time after removing the cause of occurrence The following shows three stop methods of DB EDB and SD DB Dynamic brake stop A servo motor without the dynamic brake coasts EDB Electronic dynamic brake stop available with specified servo motors Refer to the following table for the specified servo motors The stop method for other than the specified servo motors will be DB Series Servo motor HG KN HG KN053 HG KN13 HG KN23 HG KN43 HG SN HG SN52 SD Forced stop deceleration This is applicable when Pr PA04 is set to the initial value The stop method of SD can be changed to DB using Pr PA04 In some controller communication status the alarm factor may not be removed 8 TROUBLESHOOTING 8 3 Warning list BEEN Li Home position return incomplete o Home position return 902 Home position return abnormal incomplete warning i termination sus Zphase unpassed SN Servo amplifier 1 overheat warning Note 1 92 1 Encoder battery cable 2 m See cable disconnection warning isconnection warnin 1 Battery degradation MEN In position warning at home 96 1 positioning Command input warning at home positioning Servo off warning at home positioning Program operation Program operation disabled Main circuit device overheat warning B A Home position setting warni
233. oad on the equipment Otherwise it may cause injury Q Use the equipment within the specified environment For the environment refer to section 1 3 Q 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 NCAUTION Q Do not drop or strike the servo amplifier Isolate it from all impact loads Q Do not install or operate the servo amplifier which has been damaged or has any parts missing QG 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 Q The servo amplifier must be installed in a metal cabinet QG 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 INSTALLATION 2 1 Installation direction and clearances Q The equipment must be installed in the s
234. off the switch in the above diagram and set the load to motor inertia ratio Pr PBO6 manually From the preset load to motor inertia ratio Pr PB06 value and response Pr PAO9 the optimum loop gains are automatically set on the basis of the internal gain table The auto tuning results are saved in the EEP ROM of the servo amplifier every 60 minutes since power on At power on auto tuning is performed with the value of each loop gain saved in the EEP ROM being used asaninitial value Qf sudden disturbance torque is imposed during operation the load to motor inertia ratio may be misestimated temporarily In such a case set Gain adjustment mode selection to Auto tuning mode2 2 in Pr PAO8 and then set the correct load to motor inertia ratio in Pr PBOG Q When any of the auto tuning mode 1 and auto tuning mode 2 is changed to the manual mode the current loop gains and load to motor inertia ratio estimation value are saved in the EEP ROM 6 19 6 NORMAL GAIN ADJUSTMENT 6 3 3 Adjustment procedure by auto tuning Since auto tuning is enabled before shipment from the factory 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 The adjustment procedure is as follows C Auto tuning adjustment Acceleration deceleration repeated Load to motor inertia ratio estimation va
235. olutions one revolution 6 V 3 4 V x MR BAT6V1SET A Servo motor 4 Cumulative revolution counter High speed serial 1 pulse rev communication One revolution counter 2 Specifications a Specification list Electronic battery backup type Maximum revolution range Home position 32767 rev Note 1 6000 Maximum speed at power failure r min only when acceleration time until 6000 r min is 0 2 s or longer Approximately 20 000 hours Note 2 equipment power supply off ambient temperature 20 C Battery backup time Approximately 29 000 hours power on time ratio 25 ambient temperature 20 C Note 3 Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like Also if power is switched on at the servo motor speed of 3000 r min or higher position mismatch may occur due to external force or the like 2 The data holding time by the battery using MR BAT6V1SET A Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on off If the battery is used out of specification AL 25 Absolute position erased may occur 3 The power on time ratio 25 is equivalent to 8 hours power on for a weekday and off for a weekend 12 3 12 ABSOLUTE POSITION DETECTION SYSTEM 12 2 2 Using the MR BT6VCASE battery case Q One
236. ommand argument extemal error 08 ll 9 Program error 393 RegstrNo emr 08 SJ o Non correspondence command oe N PSI E error N Wi SSCNET communication data error 34 3 34 Hardware error signal detection 31 35 36 4 1 Command frequency error 1 1 ow e w EN 8 TROUBLESHOOTING e Name Detail Detail name No 3 Alarm E 1 Operation mode error Operation mode error Operation mode switch error 45 Main circuit device 45 1 Main circuit device overheat error 1 overheat Abnormal temperature of servo 46 1 motor 1 Abnormal temperature of servo 46 5 motor 3 Abnormal temperature of servo 46 6 motor 4 Cooling fan error Cooling fan speed reduction error Thermal overload error 1 during 50 Overload 1 Thermal overl operation 51 Overload 2 stop Excess droop pulse 1 Excess droop pulse 2 E excessive during 0 torque Excess droop pulse 3 Oscillation detection Oscillation detection error Over speed during forced stop 56 Estimated distance over during forced stop 888 61 1 Point table setting range error 88888 3E Servo motor overheat Thermal overl operation oad error 2 during Thermal overl operation oad error 4 during Thermal overl stop oad error 1 during a Thermal overl stop oad error 2 during a Thermal overl stop oad error 4 during a Thermal over operation oad error 3 during oad error 3 during a 5
237. on ar The servo amplifier detects mechanical resonance and sets filter characteristics Adaptive filter Il Gees Section 7 1 2 automatically to suppress mechanical vibration Low pass filter This function suppresses high frequency resonance which occurs as servo system Section 7 1 4 response is increased This function analyzes the frequency characteristic of the mechanical system by Model adaptive control Shaft resonance suppression filter simply connecting an MR Configurator2 installed personal computer and servo amplifier MR Configurator2 is necessary for this function e This function enhances the disturbance response when the response level remains Robust filter GREEN Sa Pr PE41 low because the load to motor inertia ratio of axes such as a roll feed axis is high en lid This function suppresses vibration of 1 pulse generated at a servo motor stop Pr PB24 Auto tuning This function automatically adjusts the gain to an optimum value if load applied to the Section 6 3 servo motor shaft varies Used when the built in regenerative resistor of the servo amplifier does not have Regenerative option Ge Sp Section 11 2 sufficient regenerative capability for the regenerative power generated Machine analyzer function Alarm history clear This function clears the alarm history Pr PC21 Output signal selection The output devices including MBR Electromagnetic brake interlock and ALM Pr PD07 device sett
238. on 0 Disabled used in the incremental system 1 Enabled used in the absolute position detection system For manufacturer setting oh KS Oh o 5 10 5 PARAMETERS Initial value unit Refer to the Name and function column Setting range Name and function PA04 AOP1 Function selection A 1 Select the forced stop input and forced stop deceleration function Setting Initial Explanation For manufacturer setting Servo forced stop selection 0 Enabled The forced stop input EM2 or EM1 is used 1 Disabled The forced stop input EM2 and EM1 are not used Refer to table 5 1 for details Forced stop deceleration function selection 0 Forced stop deceleration function disabled EM1 is used 2 Forced stop deceleration function enabled EM2 is used Refer to table 5 1 for details Table 5 1 Deceleration method Setting Deceleration method l EM or EM1 is off The controller forced stop is enabled or an alarm occurs EM2 EM1 value MBR Electromagnetic brake interlock turns off without the forced stop deceleration MBR Electromagnetic brake interlock turns off after the forced stop deceleration MBR Electromagnetic brake interlock turns off without the forced stop deceleration MBR Electromagnetic brake interlock turns off after the forced stop deceleration MBR Electromagnetic brake interlock turns off without the forced stop deceleration MBR Electromagnet
239. on The module power consumption is displayed The positive value is displayed in power running The negative value is displayed in regeneration Module integral power consumption The module integral power consumption is displayed Instantaneous torque The instantaneous torque is displayed The value of torque being occurred is displayed in real time considering a rated torque as 100 Disturbance torque The difference between the torque necessary to drive the servo motor and the actually required torque Torque current value is displayed as the disturbance torque Overload alarm margin The margins to the levels which trigger AL 50 Overload 1 and AL 51 Overload 2 are displayed in percentage Error excessive alarm margin The margin to the level which triggers the error excessive alarm is displayed in units of encoder pulses The error excessive alarm occurs at 0 pulses Settling time The time Settling time after command is completed until INP In position turns on is displayed Overshoot amount The overshoot amount during position control is displayed in units of encoder pulses The position command from the controller is displayed The torque command from the controller is displayed App 18 REVISION The manual number is given on the bottom left of the back cover Print Data _ Manual Number Nov 2014 SH NA 030152 A First edition Aug 2015 SH NA 030152 B The content of one touch tuning is changed 1 To
240. on data error 3 Encoder normal communication Receive data error 4 N 0 e Encoder normal communication Receive data error 5 V ESO N N aj gt gt Encoder data error 1 Ground fault detected at hardware detection circuit Main circuit error Ground fault detected at software 24 2 e detection function Absolute position 254 Servo motor encoder Absolute erased i position erased Regeneration heat error Regenerative error Regeneration signal error Regeneration feedback signal error Overcurrent detected at hardware 32 1 news detection circuit during operation Overcurrent detected at software 32 2 detection function during Overcurrent operation Overcurrent detected at hardware 32 3 aded 8 detection circuit during a stop 324 Overcurrent detected at software detection function during a stop Overvoltage Main circuit voltage error EDB SSCNET receive data error N N N Co Encoder normal communication error 2 N N o EL 1 9 N N R n 4 iV SR Ale sojloj o s EE NI O gzO 0O x BA aA Fle 12 ri SSCNET connector connection SSCNET receive error 34 2 MM 1 i error 36 Continuous communication data o 2 error 37 Parameter setting range error w M o o Parameter error Parameter combination error BB M o o srs Pointtabie setting eror LD ll 8 394 Programero L L 9 392 C
241. onnect 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 gt gt 1 10 Detailed explanation Section 4 3 Section 11 4 Section 3 2 Section 3 4 Section 3 1 Section 3 3 Section 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 FUNCTIONS AND CONFIGURATION 1 8 Configuration including peripheral equipment Connecting a servo motor of the wrong axis to U V W or CN2 of the servo NCAUTION TECH SE amplifier may cause a malfunction Equipment other than the servo amplifier and servo motor are optional or recommended products 1 MR JE 100B or less The diagram shows MR JE 40B Personal computer I MR Configurator2 CNS RST Q Note 1 Power supply JEE Molded case z en MD circuit breaker o em MCCB CN3 H Junction terminal SS D H block a m Note 2 lt Magnetic cria O0 Servo system co
242. oportional integral control For the speed integral compensation set the time constant of this integral control Increasing the setting lowers the response level However if the load to motor inertia ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression 2000 to 3000 Speed loop gain 1 Load to motor inertia ratio Speed integral compensation setting ms 2 6 NORMAL GAIN ADJUSTMENT 3 Pr PBOG Position loop gain This parameter determines the response level to a disturbance to the position control loop Increasing the position loop gain increases the response level to a disturbance but the mechanical system is liable to vibrate Position loop gain guideline lt uu x to 1 1 Load to motor inertia ratio 4 4 Pr PBO7 Model loop gain This parameter determines the response level to a position command Increasing the value improves track ability to a position command but too high a value will make overshoot liable to occur at settling Speed loop gain Estimated model loop gain lt E e 0 J x t 1 Load to motor inertia ratio 14 6 5 2 gain adjustment mode The 2 gain adjustment mode is used to match the position loop gains of the axes in the interpolation operation of servo motors of two or more axes for an X Y table or the like In this mod
243. or to a stop Refer to chapter 8 Note The servo motor decelerates to a stop with the command AL EM2 Forced stop 2 off E6 Servo forced stop warning occurs EM2 has the same function as that of EM1 in the torque control mode Servo amplifier Note Only a list of alarms and warnings is listed in chapter 8 Refer to MELSERVO JE Servo Amplifier Instruction Manual Troubleshooting for details of alarms and warnings 4 3 Switch setting and display of the servo amplifier The control axis No can be set with switches on the servo amplifier On the servo amplifier display three digit seven segment LED check the status of communication with the servo system controller at power on and the axis number and diagnose a malfunction at occurrence of an alarm 4 3 1 Axis selection rotary switch SW1 When switching the axis selection rotary switch SW1 use an insulated screw NWARN NG driver Do not use a metal screw driver Touching patterns on electronic boards lead of electronic parts etc may cause an electric shock Q The control axis No set to the axis selection rotary switch SW should be the same as the one set to the servo system controller The number of the axes you can set depends on the servo system controller Q For setting the axis selection rotary switch use a flat head screwdriver with the blade edge width of 2 1 mm to 2 3 mm and the blade edge thickness of 0 6 mm to 0 7 mm G Cycling the power supply
244. orth in the instruction manual and user manual for the Product and the caution label affixed to the Product Even during the term of warranty the repair cost will be charged on you in the following cases i a failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem ii a failure caused by any alteration etc to the Product made on your side without our approval iii a failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry iv a failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced v anyreplacement of consumable parts battery fan smoothing capacitor etc vi a failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters vii afailure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for T
245. ouch tuning Response mode selection window of MR Configurator2 One touch tuning execution Press the start button during servo motor driving to execute one touch tuning Gains and filters will be adjusted automatically During processing of tuning the tuning progress One touch tuning in progress h will be displayed in in MR Configurator2 When one touch tuning is completed normally the parameters described in table 6 1 will be set automatically When the tuning is not completed normally the tuning error will be displayed Refer to section 6 2 2 5 One touch tuning completion Tuning result check Check the tuning result When the tuning result is not satisfactory you can return the parameter to the value before the one touch tuning or the initial value Refer to section 6 2 2 8 End 6 NORMAL GAIN ADJUSTMENT 2 Amplifier command method Make one touch tuning as follows Start Startup of the system Movement to tuning start position One touch tuning start mode selection Input of permissible travel distance Response mode selection One touch tuning execution One touch tuning in progress One touch tuning completion Tuning result check Controller reset End Servo amplifier power cycling Start a system referring to chapter 4 Move the moving part to the center of a movable range
246. ouch tuning During one touch tuning clicking the stop button stops one touch tuning If the one touch tuning is stopped C000 will be displayed at status in error code After the one touch tuning is stopped parameters will return to the values at the start of the one touch tuning To stop one touch tuning and execute it again stop the servo motor once In addition after returning the moving part to the tuning start position execute it 6 13 6 NORMAL GAIN ADJUSTMENT 5 If an error occurs If a tuning error occurs during tuning one touch tuning will be stopped With that the following error code will be displayed in status Check the cause of tuning error When executing one touch tuning again stop the servo motor once In addition after returning the moving part to the tuning start position execute it Display Error detail Corrective action example C000 Tuning canceled Overshoot exceeded C002 Servo off during tuning C003 Control mode error C004 Time out C005 Load to motor inertia ratio misestimated The stop button was clicked during one touch tuning Overshoot amount is a value larger than the one set in Pr PA10 In position range and Pr PA25 One touch tuning Overshoot permissible level The one touch tuning was attempted in the user command method during servo off The servo amplifier will be servo off status during one touch tuning The one touch tuning was attempted while the torque contro
247. ount Encoder pulse unit L Update Project To further improve performance Fine adjust the model loop gain Tuning e a Detailed Setting Set the detailed parameter relating to One touch tuning Lal Parameter Setting Table 6 2 Response mode explanations Explanation This mode is for high rigid system This mode is for standard system This mode is for low rigid system Refer to the following table for selecting a response mode Table 6 3 Guideline for response mode aee Machine characteristic High mode i Guideline of corresponding machine Low response A Arm robot General machine tool conveyor Precision working machine Inserter Mounter Bonder v High response 6 10 6 NORMAL GAIN ADJUSTMENT 3 One touch tuning execution Q For equipment in which overshoot during one touch tuning is in the permissible level of the in position range changing the value of Pr PA25 One touch tuning overshoot permissible level will shorten the settling time and improve the response Q When executing one touch tuning in the amplifier command method turn on EM2 When EM2 is turned off during one touch tuning C008 will be displayed at status in error code and the one touch tuning will be canceled When executing the one touch tuning in the amplifier command method FLS Upper stroke limit and RLS Lower stroke limit will be disabled Thus set a permissible travel distance within a range
248. ower 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 1 To prevent electric shock note the following AN WARNING Q 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 Q 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 Q Do not attempt to wire the servo amplifier and servo motor until they have been installed Otherwise it may cause an electric shock Q Do not operate switches with wet hands Otherwise it may cause an electric shock Q The cables should not be damaged stressed loaded or pinched Otherwise it may cause an electric shock Q 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 Q To avoid an electric shock insulate the connections of the power supply terminals 2 To prevent fire note the following A CAUTION install the servo amplifier servo motor and regenerative resistor on incombustible material Installing them directly or close to combustibles wil
249. pecified direction Otherwise it may NCAUTION cause a malfunction Q Leave specified clearances between the servo amplifier and the cabinet walls or other equipment Otherwise it may cause a malfunction 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 Cabinet Cabinet A Z 40 mm Wiring or more allowance Servo 80 mm amplifier or more 888 Ur 10 mm ey Gm mm or more or more Top 4 Lei Bottom 2 INSTALLATION b Installation of two or more servo amplifiers Q 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 toleranc
250. plate cable g d External conductor Clamp section diagram Dimensions Unit mm Unit mm Grounding plate Clamp section diagram 2 5 hole 17 5 installation hole T T A xO TO I 1 Ld s r e a E Lor less 10 o 4 a o I e E x j Hee Note M4 screw 6 22 11 E CZZZZZZZZZZZ Note Screw hole for grounding Connect it to the grounding plate of the cabinet Wedel A 8 eege FAERSBAN DSET 100 86 30 ClampA 2pcs 70 PAERSBAN ESET 70 56 Clamp Bitp 8 4 11 40 11 OPTIONS AND PERIPHERAL EQUIPMENT d Line noise filter FR BSFO01 This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high frequency leakage current 0 phase current It especially affects the noises between 0 5 MHz and 5 MHz band Dimensions Unit mm The line noise filters can be installed on lines of the power supply FR BSFO1 for wire size 3 5 mm AWG 12 or smaller L1 L2 and L3 and of the servo motor power U V and W Pass each of the wires through the line noise filter an equal number of times in the same direction For the power supply the effect of the filter rises as the number of passes increases but generally four passes would be appropriate For the servo motor power lines passes must be four times or less Do
251. plifier Servo amplifier No alarm d Alarm No Blank the servo lt display N l amplifier in Doi which an alarm l Deceleration l occurred Servo motor to a stop speed l Or min eg ATED coal a enh n CN l Input power ON i supply OFF S lifi The third axis display No zem X E7 1 X AA servo amplifier and later l Servo motor Deceleration to a stop speed 0 r min 3 SIGNALS AND WIRING 2 If an alarm that stops the servo motor with the 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 Alarm Power off of the servo amplifier occurrence in which an alarm occurred Hot line alarm signal from Signal the servo amplifier in which f 3 5 ms i an alarm occurred No signal communica ion n a Hot line forced stop signal ON from the controller OFF 1 Input power ON T E supply OFF Servo amplifier The first axis E display Noalarm E7 1 servo amplifier Servo motor speed ES O0 r min 4 I Power on l duration Input power ON i supply OFF l The second axis l l servo amplifier Servo amplifier the servo 4 display amplifier in which an alarm occurred Servo motor speed 0 r min T Input power ON supply OFF S mplifi The third
252. ponse machine resonance value of value of frequency Hz MR J3 MR J3 Middle response response A A v Middle response 6 NORMAL GAIN ADJUSTMENT 6 4 Manual mode If you are not satisfied with the adjustment of auto tuning you can make simple manual adjustment with three parameters 1 For speed control a Parameter Qf machine resonance occurs filter tuning mode selection in Pr PBO1 or machine resonance suppression filter in Pr PB13 to Pr PB16 and Pr PB46 to Pr PB51 may be used to suppress machine resonance Refer to section 7 1 1 and 7 1 2 The following parameters are used for gain adjustment b Adjustment procedure zo Adjust gains briefly with auto tuning Refer to section 6 3 3 hae eee 2 Change the setting of auto tuning to the manual mode Pr PA08 3 Set an estimated value to the load to motor inertia ratio If the estimate value with auto tuning is correct setting change is not required Set a slightly smaller value to the model loop gain Nc NR Set a slightly larger value to the speed integral compensation Kee Increase the speed loop gain within the vibration and unusual Increase the speed loop noise free range and return the gain slightly if vibration takes gain place Decrease the speed integral compensation within the vibration Decrease the time free range and return the compensation slightly if vibration takes constant of the speed place
253. prevent electric shock Partially changed note the following Section 2 6 Partially changed Section 5 2 2 The content of Pr PBO6 is added The content of Pr PB56 is added The content of Pr PB57 is added Section 5 2 3 The content of Pr PC24 is added Section 6 2 The content is changed Section 7 1 1 Partially changed Section 8 2 Partially changed Section 8 3 Partially changed Section 11 4 2 Partially changed Section 11 5 2 Partially added Section 11 12 Partially changed App 1 Partially changed Newly added This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2014 MITSUBISHI ELECTRIC CORPORATION MEMO Country Region USA Mexico Brazil Germany UK Italy Spain France Czech Republic Poland Russia Sweden Turkey UAE South Africa China Taiwan Korea Singapore Thailand Indonesia Vietnam India Australia Sales office MITSUBISHI ELECTRIC AUTOMATION INC 500 Corporate Woods Parkway Vernon Hills IL 60061 U S A MITSUBISHI ELECTRIC AUTOMATION INC Mexico Branch Mariano Escobedo 69 Col Zona Industrial Tlalnepantla Edo C P 54030 Mexico MITSUBISHI ELECTRIC DO BRASIL COM RCIO E SERVI O
254. prevents vibration by resetting a filter instantaneously when machine resonance occurs due to varied vibration frequency caused by machine aging To reset the machine resonance suppression filters with the function Pr PB13 Machine resonance suppression filter 1 and Pr PB15 Machine resonance suppression filter 2 should be set in advance Set Pr PB13 and Pr PB15 as follows 1 One touch tuning execution section 6 2 2 Manual setting section 5 2 2 The vibration tough drive function operates when a detected machine resonance frequency is within 30 for a value set in Pr PB13 Machine resonance suppression filter 1 or Pr PB15 Machine resonance suppression filter 2 To set a detection level of the function set sensitivity in Pr PF23 Vibration tough drive Oscillation detection level Resetting Pr PB13 and Pr PB15 by the vibration tough drive function is performed constantly However the number of write times to the EEPROM is limited to once per hour Q The vibration tough drive function does not reset Pr PB46 Machine resonance suppression filter 3 Pr PB48 Machine resonance suppression filter 4 and Pr PB50 Machine resonance suppression filter 5 Q The vibration tough drive function does not detect a vibration of 100 Hz or lower 7 SPECIAL ADJUSTMENT FUNCTIONS The following shows the function block diagram of the vibration tough drive function The function detects machine resonance frequency
255. pth and notch width of the machine resonance suppression filter 1 Pr PB13 and Pr PB14 When you select Manual setting 2 of Filter tuning mode selection in Pr PBO1 the setting of the machine resonance suppression filter 1 is enabled b Machine resonance suppression filter 2 Pr PB15 and Pr PB16 To use this filter select Enabled 1 of Machine resonance suppression filter 2 selection in Pr PB16 How to set the machine resonance suppression filter 2 Pr PB15 and Pr PB16 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 c Machine resonance suppression filter 3 Pr PB46 and Pr PB47 To use this filter select Enabled 1 of Machine resonance suppression filter 3 selection in Pr PB47 How to set the machine resonance suppression filter 3 Pr PB46 and Pr PB47 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 d Machine resonance suppression filter 4 Pr PB48 and Pr PB49 To use this filter select Enabled 1 of Machine resonance suppression filter 4 selection in Pr PB49 However enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter How to set the machine resonance suppression filter 4 Pr PB48 and Pr PB49 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 e Machine resonance suppression filter
256. ration check the parameters Improper settings may cause some machines to operate unexpectedly Q The servo amplifier heat sink regenerative resistor servo motor etc may be hot NCAUTION 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 During operation never touch the rotor of the servo motor Otherwise it may cause injury 4 1 Switching power on for the first time When switching power on for the first time follow this section to make a startup 4 1 1 Startup procedure Wiring check Check whether the servo amplifier and servo motor are wired correctly using visual inspection the DO forced output function section 4 5 1 etc Refer to section 4 1 2 Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor Refer to section 4 1 3 E A Axis No settings Confirm that the control axis No set with the axis selection rotary switch SW1 and the control axis No set with the servo system controller are consistent Refer to section 4 3 1 b d Parameter setting As necessary set parameters Refer to chapter 5 y Test operation of the servo motor For the test operation with the servo motor disconnected from the machine alone in test operation mode and operated at the speed as low as possible check whether the servo motor rotat
257. rcuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier 3 11 3 SIGNALS AND WIRING 3 2 2 For source UO interface Q For notes refer to section 3 2 1 Servo amplifier 10 m or less R 10 m or less Note 12 CN3 CN3 24 V DC Note 16 Note 3 4 e supply Forced stop 2 lr EM2 20 3 EE EE Note 11 i picom 10 13 MBR Electromagnetic brake interlock Note 10 24 V DC Servo system controller Servo amplifier Note 7 Note 6 SSCNET III cable option p on CN1B CN1A e CN1B Personal Note 5 computer USB cable MR Configurator m MR J3USBCBL3M I option E The last servo amplifier Note 8 Note 7 CN1A Note 6 SSCNET III cable option e 9 cN1B 3 12 3 SIGNALS AND WIRING 3 3 Explanation of power supply system 3 3 1 Signal explanations POINT For the layout of the connector and terminal block refer to chapter 9 DIMENSIONS Connection destination Description application Supply the following power to L1 L2 and L3 For 1 phase 200 V AC to 240 V AC of MR JE 10B to MR JE 100B connect the power supply to L1 and L3 Leave L2 open For 1 phase 200 V AC to 240 V AC of MR JE 200B connect the power supply to L1 and L2 Leave L3 open Servo amplifier MR JE 10B to L1 L2 L3 Power
258. rent breaker according to the following formula and ground the servo amplifier servo motor etc securely To minimize leakage currents make the input and output cables as short as possible and make the grounding cable longer than 30 cm Rated sensitivity current 10 lg1 Ign Iga K Ig2 Igm MA en 11 1 Cable r A Servo Cable products X Ke amplifier Models provided with harmonic and surge reduction techniques BV C1 General models NFB lg1 Ign lga Ig Igm Ig1 Leakage current on the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Found from Fig 11 2 Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 11 2 Ign Leakage current when a filter is connected to the input side 4 4 mA per one FR BIF Iga Leakage current of the servo amplifier Found from table 11 3 Igm Leakage current of the servo motor Found from table 11 2 120 100 80 60 40 20 Leakage current mA 2 5 514 38100 3 5 8 22 60150 3080 Cable size mm Fig 11 2 Example of leakage current per km o 1g2 for CV cable run in metal conduit 11 43 11 OPTIONS AND PERIPHERAL EQUIPMENT Table 11 2 Servo motor leakage current example Igm Servo motor power kW Leakage current mA 0 1 to 1
259. resolution unit In the amplifier command method the servo motor will be operated in a range between current value permissible travel distance Input the permissible travel distance as large as possible within a range that the movable part does not collide against the machine Inputting a small permissible travel distance decreases the possibility that the moving part will collide against the machine However the estimation accuracy of the load to motor inertia ratio may be lower resulting in improper tuning Also executing the one touch tuning in the amplifier command method will generate a command for the following optimum tuning inside the servo amplifier to start the tuning Servo motor speed Note Travel distance Note l l Acceleration Deceleration time constant time constant Note Note Forward Dwell time Note i 1 Servo motor de speed Reverse E rotation Note It will be automatically generated in the servo amplifier Fig 6 2 Command generated by one touch tuning in the amplifier command method An optimum travel distance will be automatically set in the range not exceeding the user inputted permissible travel distance with MR Configurator2 A speed not exceeding 1 2 of the rated speed and overspeed alarm detection level Pr PC08 will be Servo motor speed Travel distance automatically set Acceleration time constant An acceleratio
260. ring forced stop deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 3 10 3 SIGNALS AND WIRING 3 2 I O signal connection example EM2 has the same function as EM1 in the torque control mode 3 2 1 For sink I O interface Servo amplifier 10 m or less N 10 mor less Wb Note 12 CN3 CND 24V DC Note 10 Note 3 4 NI supply Th a T SE SS I Note 2 EI ic brake Note 11 I DicoM 10 13 MBR rb Electromagnetic rake Pl Note 10 24 V DC Servo system controller Note 6 Servo amplifier SSCNET III cable Note 7 option REN E NA CN1B mu CN1A Note 1 CN1B Personal g Note 5 computer USB cable MR Configurator m MR J3USBCBL3M option The last servo amplifier Note 8 CN5 Note 7 y CN1A Note 6 SSCNET III cable option ean 9 cN1B Note 1 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 2 Connect the diode in the correct direction If it is connected reversely the servo amplifier will malfunction and will not o
261. rm reset 1 Error reset command from the controller 2 Push the Occurring Alarm Reset button in the Alarm Display window of MR Configurator2 CPU reset Reset the controller itself Power cycling Turn off the power check that the 3 digit 7 segment LED display is off and then turn on the power 8 TROUBLESHOOTING Stop Alarm deactivation Name pon Detail name method CPU Power i 2 reset cycling PDE ee o o 0 3 lololo Piet RAMerort LEE ll 0 xz Ramer CSC WJ 9 2s Ramer o NNNSN 124 Ramer 08 J o d RAM error 5 d 13 1 Clock error 1 o 13 2 Clock error 2 0B o 142 Conmoprocessemorg D8 ll 0 143 Conmoprocessemor D8 0 14 4 Control process error 4 B CR o 14 5 Control process error 5 0B o Contro process eror 46 Conmorprocessemor 08 ll 9 147 Control process error DB ll 14 8 Control process errs 08 Flo 14A Control process evrori0____ 0B 0 Memory enor 2 151 EEP ROM orror at poweron 0B 0 5 EEP ROM error during operation o Encoder initial communication Receive data error 1 Encoder initial communication i Receive data error 2 Encoder initial communication Receive data error 3 Encoder initial communication 16 I Transmission data error 1 4 Encoder initial 46 Encoder initial communication communication error 1 Transmission data
262. rol is performed from the controller 6 NORMAL GAIN ADJUSTMENT 6 2 2 Display transition and operation procedure of one touch tuning 1 Command method selection Select a command method from two methods in the one touch tuning window of MR Configurator2 One touch Tuning O User command method 1 Start to operate before pressing Start button Servo motor cannot start in stop status Amplifier command method 2 Set the permissible travel distance and execute the one touch tuning in auto operation Permissible travel distance 1 214748364 a 16777216 pulse 7 Servo motor rotation amount 4 0 rev Please do not start when servo motor is rotating Test operation cannot be executed when adjustment starts in amplifier command method A Motor rotates when press the Start button Response mode O High mode Execute the response mode for machines with high rigidity Basicmode Execute the response mode for standard machines Low mode Execute the response mode for machines with low rigidity L Sa a Error code Status o000 Sara Adjustment result Settling time haere Update Project To further improve performance Fine adjust the model loop gain A Tuning Detailed Setting Set the detailed parameter relating to One touch tuning A Parameter Setting 6 NORMAL GAIN ADJUSTMENT a User command method It is recommended to input commands meeting the following conditions to the
263. rring 4 STARTUP 4 3 3 Status display of an axis 1 Display sequence Servo amplifier power on System check in progress NI Waiting for servo system controller power to switch on II SSCNET III H communication Servo system controller power on SSCNET III H communication begins Initial data communication with the Servo system controller initialization communication Y When an alarm No or warning No is displayed Ps ic Ecc cd b E EE Note a Ready off and servo off Example When AL 50 Overload 1 IC occurs at axis No 1 l EE Ready on Note EE Ready on and servo off When alarm occurs its alarm code appears Flickering After 0 8 s v rym UU Flickering After 0 8 s Blank v Servo on Example When AL E1 Overload warning Ur occurs at axis No 1 l l l l l Note 1 Ready on and servo on nil 7 Flickering is 0 8s v Cl UU entras Ordinary operation I Flickering y After 0 8 s Blank Servo system controller power off During a non servo off causing warning the decimal point on the third digit LED shows the servo on status D I Alarm reset or warning
264. rvo amplifier may malfunction regardless of the electronic thermal protection Fig 10 1 Electronic thermal protection characteristics 10 2 10 CHARACTERISTICS 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 values in the table in consideration for the worst operating conditions The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation When the servo motor is run at less than the rated speed the power supply capacity will be smaller than the value in the table but the servo amplifier s generated heat will not change Table 10 1 Power supply capacity and generated loss per servo motor at rated output Note 1 Note 2 Servo amplifier Area required enerated heat W a Servo amplifier Servo motor Power supply g WI for heat capacity At rated output dissipation m kVA H weieng Joen os Note 1 Note that the power supply capacity will vary according to the power supply impedance This value is applicable when the power factor improving AC reactor is not used 2 Heat generated during regeneration is not included in the servo amplifier generated heat To calculate heat generated by the regenerative option refer to section 11 2 10 3 10 CHARAC
265. rvo motor If the IP rating of the cable connector servo amplifier and servo motor vary the overall IP rating depends on the lowest IP rating of all components Please purchase the cable and connector options indicated in this section for this servo amplifier 11 1 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 1 1 Combinations of cable connector sets 9 X Battery unit MR BT6VCASE and MR BAT6V1 battery Personal computer 7 S t t d ervo system E controller Servo amplifier KH y Bg Il Servo amplifier CHA EN al 8 2 3 4 E N1A CN1B L Cap a packed with the servo amplifier 1 Packed with the servo amplifier Ot Refer to HG KN_ HG SN_ Servo Motor Instruction Manual for options for servo motor power supply electromagnetic brake and encoder fT To 24 V DC power supply 4 for electromagnetic brake Servo motor Power Brake Encoder connector connector connector 11 2 Servo amplifier CNP1 power connector Servo amplifier CNP2 power connector SSCNET III cable SSCNET III cable SSCNET III cable USB cable Connector set Junction terminal block recommended MR JECNP1 01 MR JECNP1 02 MR JECNP2 02 MR J3BUS M Cable l
266. ry case MR BT6VCASE For absolute position data hold for MR BAT6V 1 multiple axis servo motors 2 Combination of battery and servo amplifier KEIER MRBATSVISETA 0 SS MR BTEVOASE SC 11 21 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 5 2 MR BAT6V1SET A battery Q For the specifications and the year and month of manufacture of the built in MR BAT6V battery refer to section 11 5 4 1 Parts identification and dimensions Unit mm Mass 55 g including MR BAT6V1 battery 2 Battery connection Connect a battery as follows Servo amplifier CNA l Encoder cable MR BAT6VSET A CND Cod LI Servo motor 11 22 11 OPTIONS AND PERIPHERAL EQUIPMENT 3 Battery replacement procedure Q Before replacing a battery 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 NWARNING En diii uie when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier Q The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions NCAUTION Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand Q Replacing a battery will erase the absolute position data QG Before replacing batteries check that the new battery is w
267. s 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 e DISPOSAL OF WASTE e Please dispose a servo amplifier battery primary battery and other options according to your local laws and regulations AN 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 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 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
268. s power failure occurs during operation and will make AL 10 Undervoltage less likely to occur When the load of instantaneous power failure is large the undervoltage alarm AL 10 2 caused by the bus voltage drop may occur regardless of the set value of Pr PF25 Instantaneous power failure tough drive Detection time 1 Instantaneous power failure time Pr PF25 Instantaneous power failure tough drive Detection time The alarm occurs when the instantaneous power failure time exceeds Pr PF25 Instantaneous power failure tough drive Detection time MTTR During tough drive turns on after the instantaneous power failure is detected MBR Electromagnetic brake interlock turns off when the alarm occurs Instantaneous power failure time ON OFF Pr PF25 Power supply i I l l I Bus voltage l i l l l Undervoltage level MIROR RM NNNM CNN THREE 200 V DC l l ALM ON Malfunction OFF l WNG ON Warning OFF I MTTR ON During tough drive OFF MBR ON Electromagnetic brake interlock Br ON OFF Base circuit 7 SPECIAL ADJUSTMENT FUNCTIONS 2 Instantaneous power failure time Pr PF25 Instantaneous power failure tough drive Detection time Operation status differs depending on how bus voltage decreases a When the bus voltage decrea
269. s rapid change of speed and torque contributing to reduction in load to the Manuals of machine and high quality product molding For details of the continuous operation to servo system torque control mode refer to the manuals for servo system controllers controllers Lost motion compensation This function corrects response delays caused when the machine travel direction is Section 7 5 function reversed i This function enables all the normally operating MR JE _B servo amplifiers to Hot line forced stop function decelerate to a stop by transmitting hot line forced stop signals via the controller ifan Section 3 7 3 alarm occurs in the MR JE B servo amplifier Continuous operation to torque control mode 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 A MTRUBISHI SER AMYOO1001 la per EES MODEL MR JE 10B 4 ap it POWER 100W 4 pacity INPUT _ 3AC 200 240V 0 9A 1 5A 50 60Hz a Applicable power supply OUTPUT 3PH170V 0 360Hz 1 1A Rated output current STD IEC EN61800 5 1 MAN IB NA 0300194 Standard Manual number Max Surrounding Air Temp 55 C Ambient temperature IP20 p rating MSIP REI MEK TC300A982G51 ke SC GE PE KC certification number et ELECTRIC CORPORATION Ee
270. sable range and recommended range control Vibration suppression Pr PB19 gt 1 211 x 0 9 x Pr PBO7 Pr PB19 gt 1 27 x 1 5 x Pr PBO7 control 1 Pr PB20 gt 1 21 x 0 9 x Pr PBO7 Pr PB20 gt 1 211 x 1 5 x Pr PBO7 When Pr PB19 Pr PB52 Pr PB52 gt 5 0 0 1 x Pr PBO7 Pr PB53 gt 5 0 0 1 x Pr PBO7 1 1 lt Pr PB52 Pr PB19 lt 5 5 Pr PBO7 lt 21 0 3 x Pr PB19 1 8 x Pr PB52 When Pr PB19 Pr PB52 Pr PB52 Pr PB53 gt 6 25 Hz 1 1 lt Pr PB52 Pr PB19 lt 4 Pr PBO7 lt 1 3 x 4 x Pr PB19 2 x Pr PB52 Vibration suppression control 2 7 10 7 SPECIAL ADJUSTMENT FUNCTIONS a When a vibration peak can be confirmed with the machine analyzer using MR Configurator2 or external measuring instrument Vibration suppression control 2 Vibration frequency anti resonance frequency Pr PB52 Vibration suppression control 2 Resonance frequency Pr PB53 Gain characteristics 1Hz 300Hz j Resonance of more than Vibration suppression control 1 300 Hz is not the target of control Vibration frequency vibration suppression control 1 anti resonance frequency Resonance frequency Pr PB19 Pr PB20 Phase Il 90 degrees b When vibration can be confirmed using monitor signal or external sensor Motor side vibration droop pulses External acceleration pickup signal etc
271. sales office The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor Permissible load to motor inertia Servo motor m ratio multiplier 10 6 10 CHARACTERISTICS 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 1 x 10 a 5 x 107 1x 107 T 5 x 10 8 Long bending life encoder cable E Long bending life motor power cable Long bending life electromagnetic brake cable 3 SSCNET III cable using long distance cable E 1 x 108 p 5x10 E b Standard encoder cable g Standard motor power cable 5 5 Standard electromagnetic brake cable 5 1x10 SSCNET III cable using inside panel standard cord 2 5 x 104 SSCNET Ill cable using outside panel standard cable 5 E 1 x 104 b 5 x 10 1 x 10 4 7 10 20 40 70100 200 Bend radius mm 10 5 Inrush current at power on The inrush current values can change depending on frequency of turning on off the power and ambient temperature The following table indicates the inrush currents reference data that will flow when 240 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m Even when you use a 1 phase 200 V AC power supply with MR JE 10B to MR JE 200B the inrush curren
272. ses to 200 V DC or lower within the instantaneous power failure time AL 10 Undervoltage occurs when the bus voltage decreases to the undervoltage level or lower regardless of the enabled instantaneous power failure tough drive Instantaneous power failure time __ ON OFF Power supply Pr PF25 Bus voltage Undervoltage level 00VDC gt gt gt Qucm ums NE nsi CM CC ME l AM ON Malfunction OFF l l WNG ON FT Warning OFF MTTR ON SE During tough drive OFF MBR ON Electromagnetic brake interlock St ON OFF Base circuit b When the bus voltage does not decrease to 200 V DC or lower within the instantaneous power failure time The operation continues without alarming Instantaneous power failure time gt Power suppl ON l SES OFF Pr PF25 f s l d Bus voltage i Undervoltage level MRNA DEREN 200 V DC T ALM ON Malfunction OFF l l WNG ON Warning OFF MTTR ON During tough drive OFF MBR ON Electromagnetic brake interlock OFF Base circuit On l l ER OFF i 7 SPECIAL ADJUSTMENT FUNCTIONS 7 4 Model adaptive control disabled 1 3 Change the parameters while the servo motor stops When setting auto tuning response Pr PAO9 change the setting value one by one to adjust it while che
273. set the different compensation for each travel direction Set a value twice the usual friction torque and adjust the value while checking protrusions O Torque offset Pr PE47 For a vertical axis unbalanced torque occurs due to the gravity Although setting the torque offset is usually unnecessary setting unbalanced torque of a machine as a torque offset cancels the unbalanced torque The torque offset does not need to be set for a machine not generating unbalanced torque 7 SPECIAL ADJUSTMENT FUNCTIONS d Lost motion compensation timing Pr PE49 You can set the delay time of the lost motion compensation start timing with this parameter When a protrusion occurs belatedly set the lost motion compensation timing corresponding to the protrusion occurrence timing Lost motion compensation non sensitive band Pr PE50 When the travel direction reverses frequently around the zero speed unnecessary lost motion compensation is triggered by the travel direction switching By setting the lost motion compensation non sensitive band the travel direction switching due to position droop vibration with the setting value or lower is recognized as the zero speed This prevents unnecessary lost motion compensation When the value of this parameter is changed the compensation timing is changed Adjust the value of Lost motion compensation timing Pr PE49 Lost motion filter setting Pr PE46 Changing the value o
274. sing MR BAT6V1SET A For details and other battery backup time refer to chapter 12 2 Quality of the batteries degrades by the storage condition The battery life is 5 years from the production date regardless of the connection status 3 The characteristic of smoothing capacitor is deteriorated due to ripple currents etc The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditioned environment 40 C surrounding air temperature or less App 12 APPENDIX App 4 6 Transportation and storage Q Transport the products correctly according to their mass Stacking in excess of the limited number of product packages is not allowed Q For detailed information on the battery s transportation and handing refer to app 2 and app 3 NCAUTION QGInstall the product in a load bearing place of servo amplifier and servo motor in accordance with instruction manual Q Do not get on or put heavy load on the equipment Q Do not hold the lead of the built in regenerative resistor when carrying the servo amplifier When you keep or use it please fulfill the following environment tee Storage Note FCI Ambient Operation transportation 10 Hz to 57 Hz with constant amplitude of 0 075 mm Test condition 57 Hz to 150 Hz with constant acceleration of 9 8 m s to IEC EN 61800 5 1 Vibration Test Fc of
275. sion control manual mode QG When load side vibration does not show up in servo motor side vibration the setting of the servo motor side vibration frequency does not provide an effect QG When the anti resonance frequency and resonance frequency can be confirmed using the machine analyzer or external measuring instrument do not set the same value but set different values to improve the vibration suppression performance Measure work side vibration and device shake with the machine analyzer or external measuring instrument and set the following parameters to adjust vibration suppression control manually Setting item Vibration suppression Vibration suppression control 1 control 2 Mean frequency for vibration suppression Pr PB19 Pr PB52 Resonance frequency for vibration Pr PB20 Pr PB53 suppression control Vibration suppression control Vibration Pr PB21 Pr PB54 frequency damping Vibration suppression control Resonance Pr PB22 Pr PB55 frequency damping Step 1 Select Manual setting _ 2 of Vibration suppression control 1 tuning mode selection or Manual setting 2 _ of Vibration suppression control 2 tuning mode selection in Pr PBO2 Step 2 Set Vibration frequency for vibration suppression control and Resonance frequency for vibration suppression control as follows However the value of Pr PBO7 Model loop gain vibration frequency and resonance frequency have the following u
276. sion filter 4 selection in Pr PB49 the shaft resonance suppression filter cannot be used Low pass filter selection 0 0 Automatic setting 1 Manual setting 2 Disabled h h For manufacturer setting 5 PARAMETERS Initial Settin No Symbol Name and function value Ing Unit range PB24 MVS_ Slight vibration suppression control Refer to the Select the slight vibration suppression control and PI PID switching control Name and function column Slight vibration suppression control selection 0 Disabled 1 Enabled To enable the slight vibration suppression control select Manual mode __ _ 3 of Gain adjustment mode selection in Pr PAO8 The slight vibration suppression control selection cannot be used in the speed control mode PI PID switching control selection 0 PI control enabled Switching to PID control is possible with commands of the servo system controller 3 Continuous PID control enabled If the servo motor at a stop is rotated even one pulse due to any external factor it generates torque to compensate for a position shift When the servo motor shaft is to be locked mechanically after positioning completion stop enabling the PID control and completing positioning simultaneously will suppress the unnecessary torque generated to compensate for a position shift PB25 BOP1 Function selection B 1 Refer to the Select whether to enable or disable the model adaptive control Name and function colu
277. supply Power supply MR JE 100B MR JE 200B MR JE 300B 3 phase 200 V AC to 240 V AC 50 Hz 60 Hz EIER 1 phase 200 V AC to 240 V AC 50 Hz 60 Hz Ps 1 MR JE 100B or less MR JE 10B to MR JE 100B do not have D When using a servo amplifier built in regenerative resistor connect it to P and C factory wired MR JE 10B and MR JE 20B do not have a built in regenerative resistor P C D Regenerative When using a regenerative option disconnect wires of the built in regenerative resistor from P option and C Then connect wires of the regenerative option to P and C MR JE 200B or more When using a servo amplifier built in regenerative resistor connect P and D factory wired When using a regenerative option disconnect P and D and connect the regenerative option to P and C Refer to section 11 2 for details power output Servo molor Connect the terminals to the servo motor power supply terminals U V and W Connect the servo UNW 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 This terminal is for manufacturer adjustment N Leave this terminal open MR JE 10B to MR JE 100B do not have N Protective earth Connect this terminal to the grounding terminal of the servo motor and to the protective earth PE PE of the cabinet for grounding 3 13 3 SIGNALS AND WIRING 3 3 2 Power on s
278. system which has complex resonance characteristics 1 Function Adaptive filter Il adaptive tuning is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration Since the filter characteristics frequency depth are set automatically you need not be conscious of the resonance frequency of a mechanical system Machine resonance point Machine resonance point Response of mechanical system Response of mechanical system Frequency Frequency H a 1 s Q on l o 1 o l ke i o Es 1 z Y g g Oo Oo i 2l u Frequency 2l e Frequency Notch frequency Notch frequency When machine resonance is large and When machine resonance is small and frequency is low frequency is high 7 SPECIAL ADJUSTMENT FUNCTIONS 2 Parameter Select how to set the filter tuning in Pr PBO1 Adaptive tuning mode adaptive filter 1I Pr PBO1 ojo o Filter tuning mode selection Filter tuning mode selection Automatically set parameter Disabled oue Automatic setting PB13 PB14 Manual setting au c CNN 3 Adaptive tuning mode procedure C Adaptive tuning v Operation Yes Is the target response reached Increase the response setting Has vibration or unusual noise occurr
279. t motion compensation timing 0 to Set the lost motion compensation timing in units of 0 1 ms 0 1 ms 20000 Timing to compensate the lost motion can be delayed by the set time Lost motion compensation non sensitive band 0 0 to Set the lost motion compensation non sensitive band When the model position droop is the pulse 65535 setting value or smaller the speed becomes 0 The setting unit can be changed in Pr PE48 kpulse Set this parameter per encoder 5 PARAMETERS 5 2 6 Extension PFO6 FOP5 setting 3 parameters Pr PF Initial Settin Name and function value 9 range unit Function selection F 5 Refer to the Set Initial Name and ong Explanation nna function column digit value EE Electronic dynamic brake selection 3h 0 Disabled 3 Automatic enabled only for specified servo motors Refer to the following table for the specified servo motors HG KN HG KN053 HG KN13 HG KN23 HG KN43 HG SN HG SN52 For manufacturer setting X PF12 DBT Electronic dynamic brake operating time 2000 0 to Set an operating time for the electronic dynamic brake ms 10000 l PF23 OSCL1 PF24 OSCL2 Drive recorder switching time setting 0 1to Set the drive recorder switching time s 32767 When USB communication is cut during the use of a graph function the function will be changed to the drive recorder function after the time set in this parameter has passed When a value from 1 to 327
280. terface connect of 24 V DC external power supply For source interface connect of 24 V DC external power supply Shield Connect the external conductor of the shielded wire 3 SIGNALS AND WIRING 3 6 Forced stop deceleration function Q When alarms not related to the forced stop function occur control of motor deceleration cannot be guaranteed Refer to chapter 8 Qe When SSCNET III H communication shut off occurs forced stop deceleration will operate Refer to section 3 7 1 3 Qn the torque control mode the forced stop deceleration function cannot be used 3 6 1 Forced stop deceleration function When EM2 is turned off dynamic brake will start to stop the servo motor after forced stop deceleration During this sequence the display shows AL E6 Servo forced stop warning During normal operation do not use EM2 Forced stop 2 to alternate stop and drive The servo amplifier life may be shortened 1 Connection diagram Servo amplifier 24 V DC DICOM Note Forced stop 2 T EM2 Note This diagram is for the sink I O interface For source I O interface refer to section 3 8 3 3 SIGNALS AND WIRING 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 PCO7 Zero speed after completion of the deceleration command base power is cut and the dynamic br
281. terpolation made for 2 or more axes Yes 2 gain adjustment mode 1 interpolation mode v Yes The load fluctuation is large during driving One touch tuning I Handle the error Error handling is possible Finished normally Auto tuning mode 1 Yes Yes Adjustment OK Auto tuning mode 2 Yes Adjustment OK No Adjustment OK 2 gain adjustment mode 2 Yes gal de Adjustment OK le Vv End 6 1 2 Adjustment using MR Configurator2 This section explains the functions and adjustment using the servo amplifier with MR Configurator2 Adjustment Machine analyzer With the machine and servo motor coupled You can grasp the machine resonance the characteristic of the mechanical system frequency and determine the notch can be measured by giving a random frequency of the machine resonance vibration command from a personal suppression filter computer to the servo and measuring the machine response 6 NORMAL GAIN ADJUSTMENT 6 2 One touch tuning Q When executing the one touch tuning check the Pr PA21 One touch tuning function selection is 1 initial value Q t start of the one touch tuning only when Auto tuning mode 1 ___ 1 or 2 gain adjustment mode 1 interpolation mode _ 0 of Gain adjustment mode selection is selected in Pr PAO8 Pr PBO6 Load to motor inertia ratio will
282. th an operation delay time interval since a current is applied to the coil until the contact closes of 80 ms or shorter 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 App 7 2 Magnetic contactor Use a magnetic contactor with an operation delay time interval since a current is applied to the coil until the contact closes of 80 ms or shorter Servo amplifier Magnetic contactor MR JE 10B MR JE 20B MR JE 40B SD N11 MR JE 70B MR JE 100B MR JE 200B SD N 21 MR JE 300B App 16 APPENDIX 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 To decelerate MR J4 B servo amplifiers to a stop by the hot line forced stop function enable the deceleration to a stop selection with Pr PA27 If an alarm occurs in the MR J4 B servo amplifier MR JE B and MR J4 B servo amplifiers do not decelerate to a stop by the hot line forced stop function m Symbol Name and function PA27 HTL Hot line forced stop function Refer to the Name and function column Deceleration to a stop selection Select
283. the Product 1 For the use of our General Purpose AC Servo its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General Purpose AC Servo and a backup or fail safe function should operate on an external system to General Purpose AC Servo when any failure or malfunction occurs 2 Our General Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used We will review the acceptability of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation SH NA 030152 B MR JE B SERVOAMPLIFIER INSTRU
284. the servo amplifier to prevent them from becoming dirty For the SSCNET Ill cable attach the tube for protecting the optical cord s end face on the end of the connector 3 SIGNALS AND WIRING 3 10 Servo motor with an electromagnetic brake 3 10 1 Safety precautions Q Configure an electromagnetic brake circuit so that it is activated also by an external emergency stop switch Contacts must be opened when ALM Contacts must be opened Malfunction or MBR Electromagnetic with the emergency stop switch brake interlock turns off Servo motor p RA d P Electromagnetic brake NCAUTION Q The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking Q Before operating the servo motor be sure to confirm that the electromagnetic brake operates properly Do not use the 24 V DC interface power supply for the electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake Otherwise it may cause a malfunction Q When using EM2 Forced stop 2 use MBR Electromagnetic brake interlock for operating the electromagnetic brake Operating the electromagnetic brake without using MBR during deceleration to a stop will saturate servo motor torques at the maximum value due to brake torque of the electromagnetic brake This can result in delay of the deceleration to a stop from a set value G Refer to HG KN HG SN Servo Motor Instruction Manual for specificat
285. the servo motor speed reaches the following range SA will turn on Preset speed Preset speed x 0 05 20 r min When the preset speed is 20 r min or slower SA always turns on The device cannot be used in the position control mode and torque control mode When the speed reaches the speed limit value in the torque control mode VLC will turn on When the servo is off TLC will be turned off The device cannot be used in the position control mode and speed control mode ZSP turns on when the servo motor speed is zero speed 50 r min or slower Zero speed can be changed with Pr PCO7 OFF level Forward 70 r min rotation direction ON level E 1 Hysteresis width 20 r min 50 r min Pr PCO7 Servo motor speed 0 r min eg 1 ON aval Pr PCO7 Reverse 20 ven rotation 20 r min direction OFF level Hysteresis width 70 r min ZSP ON Zero speed OFF detection ZSP will turn on when the servo motor is decelerated to 50 r min at 1 and will turn off when the servo motor is accelerated to 70 r min again at 2 ZSP will turn on when the servo motor is decelerated again to 50 r min at 3 and will turn off when the servo motor speed has reached 70 r min at 4 The range from the point when the servo motor speed has reached on level and ZSP turns on to the point when it is accelerated again and has reached off level is called hysteresis width Hysteresis width is 20 r
286. ties that contain migrating plasticizer phthalate ester may affect MR J3BUS M and MR J3BUS M A cables plastic In addition the MR J3BUS M B cable silica glass is not affected by plasticizer A chemical substance may affect its optical characteristic Therefore previously check that the cable is not affected by the environment Bundle fixing Fix the cable at the closest part to the connector with bundle material in order to prevent the SSCNET III cable from putting its own weight on the CN1A CN1B connector of the servo amplifier The optical cord should be given loose slack to avoid becoming smaller than the minimum bending radius and it should not be twisted When bundling the cable fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizers If adhesive tape for bundling the cable is used fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended YY a E j Optical cord Loose slack Cabl Bundle material SS SE Recommended product NK clamp SP type NIX INC 5 Tension If tension is added on an optical cable the increase of transmission loss occurs because of external force which concentrates on the fixing part of the optical fiber or the connecting part of the optical connector Doing so may cause the breakage of the optical fiber or damage of the optical connector For cable laying handle the cable wit
287. tion diagram Q Turn off the molded case circuit breaker MCCB to avoid electrical shocks or NWARNING aic DU Md damages to the product before starting the installation or wiring Connecting a servo motor for different axis to U V W or CN2 of the servo NCAUTION amplifier may cause a malfunction The following shows representative configuration examples to conform to the IEC EN UL CSA standards 1 3 phase input Ss Ss x 5 X DA m amplifier 3 phase MCCB Mc Q 230 V AC ot fuse L1L2L3 pum Power x x suppl CN1 cuis X Q Controller 400 V AC gt PE Encoder cable Transformer star connected Cabinet side To protective equipment Machine side Thermal signal Note Servo motor Encoder Note Please use a thermal sensor etc for thermal protection of the servo motor 2 1 phase input A Ger 5A A Servo amplifier 230 V AC MC 11213 Note 2 Power supply lt CN1 3 phase Controller 409V i f c PE CN2 Encoder cable ransformer star connected UNIWIPE Cabinet side Machine side To protective equipment Thermal signal Note 1 Servo motor Encoder Note 1 Please use a thermal sensor etc for thermal protection of the servo motor 2 Forthe MR JE 200 servo amplifiers connect the power supply to L1 and L2 Lea
288. tion erased AL 92 Battery cable disconnection warning AL 9F Battery warning 2 Operation procedure 1 Set the servo amplifier to the servo off status 2 Set 0 1 in Pr PCO5 and cycle the power 3 Start the motor less operation with the servo system controller The display shows the following screen Lime decimal point flickers 4 14 5 PARAMETERS 5 PARAMETERS Never adjust or change the parameter values drastically as doing so will make the operation unstable NCAUTION f fixed values are written in the digits of a parameter do not change these values Do not change parameters for manufacturer setting Q Do not set a value other than the described values in each parameter Q When you connect the amplifier to a servo system controller servo parameter values of the servo system controller will be written to each parameter Q Some parameters and their ranges may not be configured depending on the Servo system controller model servo amplifier software version and MR Configurator2 software version For details refer to the servo system controller user s manual Check the software version of the servo amplifier using MR Configurator2 5 1 Parameter list Q The parameter whose symbol is preceded by is enabled with the following conditions To enable the parameter value power off the servo amplifier for 1 s or longer and power on the amplifier or reset the controller after setting th
289. to 240 V AC 50 Voltage frequency Hz 60 Hz Power supply input Permissible voltage fluctuation 3 phase or 1 phase 170 3 phase or 1 phase 170 V AC to 264 V AC V AC to 264 V AC Note 5 Permissible frequency Within 5 fluctuation Power SUPPIY gaz Refer to section 10 2 capacity Interface 24 V DC 1096 power supply Current capacity A Note 2 0 1 SSCNET III H communication cycle 0 444 ms 0 888 ms Note 3 Communication function USB Connection to a personal computer or others MR Configurator2 compatible 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 Compliance CE marking EMC EN 61800 3 to standards MD EN ISO 13849 1 EN 61800 5 2 EN 62061 UL standard UL 508C Force cooling open IP20 Protective functions Structure IP rating Natural cooling open IP20 mounting Th i Ambient 0 C to 55 C non freezing temperature Storage Storage 20 C to 65 C non freezing Ambient 90 RH or lower non condensing Environment humidity Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust 1000 m or less above sea level 5 9 mis at 10 Hz to 55 Hz directions of X Y and Z axes Mess Wd
290. tor power wires from overloads AL 50 Overload 1 occurs if overload operation performed is above the electronic thermal protection curve shown in fig 10 1 AL 51 Overload 2 occurs if the maximum current is applied continuously for several seconds due to machine collision etc Use the equipment on the left side area of the continuous or broken line in the graph For the system where the unbalanced torque occurs such as a vertical axis system the unbalanced torque of the machine should be kept at 7096 or lower of the motor s rated torque This servo amplifier has a servo motor overload protection The servo motor overload current full load current is set on the basis of 110 rated current of the servo amplifier 1000 1000 Operatin Operatin 100 dani 100 perating v 2 oO o 5 S lock 40 Servo lock 10 ervo loc w w o o Q es O O 1 1 0 1 0 1 0 50 100 150 200 250 300 320 0 50 100 150 200 250 300 320 Note Load ratio 96 Note Load ratio 96 HG KN13 HG KN23 HG KN43 HG KN73 HG SNB52 HG SN102 10 1 10 CHARACTERISTICS 1000 Operatin 100 E 2 Cy o E E 40 Servo lock o eo O 1 0 1 0 50 100 150 200 250 300 320 Note Load ratio 96 HG SN152 HG SN202 HG SN302 Note If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status servo lock status or in a 30 r min or lower low speed operation status the se
291. tor speed of 3000 r min or higher position mismatch may occur due to external force or the like 2 The data holding time by five MR BAT6V1 batteries The battery life varies depending on the number of target axes including axis for using in the incremental system Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on off If the battery is used out of specification AL 25 Absolute position erased may occur 3 The power on time ratio 25 is equivalent to 8 hours power on for a weekday and off for a weekend 12 4 APPENDIX App 1 Peripheral equipment manufacturer for reference Names given in the table are as of Aug 2015 SEIWA ELECTRIC Seiwa Electric Mfg Co Ltd Soshin Electric Soshin Electric Co Ltd TDK Corporation Molex Molex Toho Technology Toho Technology Corp Yoshida Terminal Block Division App 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods United Nations Recommendations on the Transport of Dangerous Goods Rev 15 hereinafter Recommendations of the United Nations has been issued To reflect this transport regulations for lithium metal batteries are partially revised in the Technical Instruction ICAO TI by the International Civil Aviation Organization ICAO and the International Maritime Dangerous Goods Code IMDG Code by the International Maritime Organization IMO
292. ts will be the same Servo amplifier Inrush currents Ao p MR JE 10B MR JE 20B 32A MR JE 40B attenuated to approx 3 A in 20 ms 36A DEE attenuated to approx 7 A in 20 ms MR JE 200B MR JE 300B 102A i attenuated to approx 12 A in 20 ms Since large inrush currents flow in the power supplies always use molded case circuit breakers and magnetic contactors Refer to section 11 7 When circuit protectors are used it is recommended that the inertia delay type which is not tripped by an inrush current be used 10 7 10 CHARACTERISTICS MEMO 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 OPTIONS AND PERIPHERAL EQUIPMENT Q 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 NWARNING ibi 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 Q Use the specified peripheral equipment and options to prevent a malfunction or a Z CAUTION fire We recommend using HIV wires to wire the servo amplifiers options and peripheral equipment Therefore the recommended wire sizes may differ from those used for the previous servo amplifiers 11 1 Cable connector sets The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo amplifier or se
293. tting Set Pr PA02 according to the option to be used Pr PA02 Regenerative option selection 00 Regenerative option is not used For servo amplifier of 200 W or less regenerative resistor is not used For servo amplifier of 0 4 kW to 3 kW built in regenerative resistor is used 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 11 10 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 2 4 Connection of regenerative option Q 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 When MR RB50 is used a cooling fan is required to cool it The cooling fan should be prepared by the customer Q For the wire sizes used for wiring refer to section 11 6 A built in regenerative resistor should not be mounted or removed frequently Q When you remount a built in regenerative resistor check the lead wires of the built in regenerative resistor for scratches or cracks The regenerative option generates heat of 100 C higher than the ambient temperature Fully consider heat dissipation installation position wires used etc before installing the option For wiring use flame retardant wires or make the wires flame retardant and keep them away from the regenerative option Always use twisted cables of max 5 m length for connection with the servo amplifier 11 11 11 OPTIONS AND PERIPHERAL EQUIPM
294. unding cables to the same protective earth PE terminal Always connect cables to the terminals one to one If using a leakage circuit breaker always ground the protective earth PE terminal of the servo amplifier to prevent an electric shock This product can cause a d c current in the protective earthing conductor Where a residual current operated protective RCD earth leakage current breaker device is used for protection in case of direct or indirect contact only an RCD of Type B is allowed on the supply side of this product PE terminals App 5 APPENDIX 2 EU compliance The MR JE servo amplifiers are designed to comply with 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 a EMC requirement MR JE servo amplifiers comply with category C3 in accordance with IEC EN 61800 3 Install an EMC filter and surge protector on the primary side of the servo amplifier As for UO signal wires max length 10 m and encoder cables max length 50 m use shielded wires and ground the shields However when the encoder cable length is longer than 30 m for MR JE 70 and MR JE 100 set a radio noise filter FR BIF to the input power supply side of the servo amplifier The following shows recommended products EMC filter Soshin Electric HF3000A UN series Surge protector Okaya Electric Industries RSPD 250 U4
295. unless the setting is increased to some degree The guideline is as indicated in the following expression 2000 to 3000 Speed loop gain 1 Load to motor inertia ratio Speed integral compensation setting ms 2 3 Pr PBO7 Model loop gain This parameter determines the response level to a speed command Increasing the value improves track ability to a speed command but too high a value will make overshoot liable to occur at settling Speed loop gain Estimated model loop gain lt n x E 0 n t 1 Load to motor inertia ratio 4 2 For position control a Parameter The following parameters are used for gain adjustment Symbol PB06 Load to motor inertia ratio PBO7 Model loop gain PB08 Position loop gain PBO9 Speed loop gain PB10 Speed integral compensation 6 NORMAL GAIN ADJUSTMENT b Adjustment procedure Sip Adjust gains briefly with auto tuning Refer to section 6 3 3 Change the setting of auto tuning to the manual mode Pr PA08 ___ 3 Set an estimated value to the load to motor inertia ratio If the estimate value with auto tuning is correct setting change is not required Set a slightly smaller value to the model loop gain and the position loop gain Set a slightly larger value to the speed integral compensation Increase the speed loop gain within the vibration and unusual Increase the speed loop noise free range and return the gain slightly if vibration takes gain p
296. until just before mounting an SSCNET III cable Then when removing the SSCNET III cable make sure to put a cap QG Keep the cap for the CN1A CN1B connector and the tube for protecting the optical cord end of an SSCNET III cable in a plastic bag with a zipper of the SSCNET III cable to prevent them from becoming dirty When asking repair of the servo amplifier for some malfunctions make sure to cap the CN1A and CN1B connectors When the connector is not capped the light device may be damaged at the transit In this case replacing and repairing the light device are required 3 SIGNALS AND WIRING a Connection 1 For an SSCNET III cable in the shipping status the 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 While holding a tab of the SSCNET III cable connector make sure to insert it into the CN1A and CN1B connectors of the servo amplifier until you hear the click If the end face of the optical cord tip is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol Servo amplifier Servo amplifier b Disconnection While holding a tab of the SSCNET III cable connector pull out the connector When pulling out the SSCNET III cable from the servo amplifier be sure to put the cap on the connector parts of
297. utput signals disabling EM2 Forced stop 2 and other protective circuits If the controller does not have a forced stop function always install the forced stop 2 switch normally closed contact When starting operation always turn on EM2 Forced stop 2 normally closed contact Use SW1DNC MRC2 Refer to section 11 4 Use SSCNET III cables listed in the following table Cable model Cable length Standardcordiingide MR J3BUS_M 0 15mto3m cabinet OO Om Ww standard cable MR J3BUS_M A 5mto20m outside cabinet Long distance cable MR J3BUS_M B 30 m to 50 m 7 The wiring after the second servo amplifier is omitted 8 Up to 16 axes of servo amplifiers can be connected The number of connectable axes depends on the controller you use Refer to section 4 3 1 for setting of axis selection 9 Make sure to cap the unused CN1B connector 10 Supply 24 V DC x 10 to interfaces from outside The total current capacity of these power supplies must be 100 mA or lower The current capacity 100 mA is applicable when all UO signals are used The current capacity can be decreased by reducing the number of I O points Refer to section 3 8 2 that gives the current value necessary for the interface The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 11 You can change a device assigned to the CN3 13 pin with Pr PDO7 12 Configure a ci
298. value Response Response l resonance resonance frequency Hz frequency Hz Low response A PA10 In position range 100 0 to Set an in position range per command pulse pulse 65535 PA14 POL Rotation direction selection 0 to 1 Select the rotation direction of command input pulses Servo motor rotation direction Setting Positioni dd increase CCW V Reverse rotation CW 5 13 5 PARAMETERS m Symbol Name and function PA19 BLK Parameter writing inhibit Refer to Select a reference range and writing range of parameters the Refer to table 5 3 for settings Name and function Table 5 3 Pr PA19 setting value and reading writing range column EAE JESESESESESES ea Other than Reading o be Wing i Ee e N oo Reading Ony 18 PI Writing Only 19 cw Hee OQ tO Wiing o o o M cx Led o o o o writing O O O O xum LRedm O O O 0 Writing o o o o o SC a Nac i LO o N fo o N Lo o N o oaan Reading O o Zo Win o O roen Resa o Wing Only 19 T L RNC Wing Only 19 mm LIEN OMNCM Wing Only 19 Lo pes SS Ee EIN E FAMAM PATE 5 14 5 PARAMETERS Initial Settin Symbol Name and function value g unit range PA20 TDS Tough drive setting Refer to the Alarms may not be avoided with the tough drive function depending on the situations of the Na
299. ve L3 open The control circuit connectors described by rectangles are safely separated from the main circuits described by circles The connected motors will be limited as follows HG KN HG SN series servo motors Mfg Mitsubishi Electric App 9 APPENDIX App 4 4 Signals App 4 4 1 Signal The following shows CN1 connector signals of MR JE 10A as a typical example CN1 BER OOOO This is in position control mode App 10 APPENDIX App 4 4 2 I O device The following shows typical I O devices of MR JE A For the other devices refer to each servo amplifier instruction manual Ms device son Sew RES Ree ooo Forced stop 2 Forward rotation stroke end Reverse rotation stroke end Output device Symbol Zero speed detection 23 CN1 Malfunction PRD Redy O Power supply Symbol DICOM Digital I F power supply input 20 21 DOCOM Digital I F common CN1 46 47 Shield App 11 APPENDIX App 4 5 Maintenance and service Q To avoid an electric shock only qualified personnel should attempt inspections NWARNING ee ES For repair and parts replacement contact your local sales office App 4 5 1
300. vo motor speed Pr PC24 Precautions If the servo motor torque is saturated at the maximum torque during forced stop deceleration because the set time is too short the time to stop will be longer than the set time constant AL 50 Overload 1 or AL 51 Overload 2 may occur during forced stop deceleration depending on the set value After an alarm that leads to a forced stop deceleration has occurred if an alarm that does not lead to a forced stop deceleration occurs or the power supply is cut dynamic braking will start regardless of the deceleration time constant setting Set a longer time than deceleration time at quick stop of the controller If a shorter time is set AL 52 Error excessive may occur PC29 COPB Function selection C B Refer to the Select the POL reflection at torque control Name and function column Setting Initial Ts Explanation L For manufacturer setting POL reflection selection at torque control 0 Enabled 1 Disabled PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 25000 Set the compensation amount of the vertical axis freefall prevention function 0 0001 to Set the amount in units of the servo motor rotation amount rev 25000 When a positive value is set compensation is performed to the address increasing direction When a negative value is set compensation is performed to the address decreasing direction The v
301. w of MR Configurator2 enables to return the parameter to the initial value Refer to table 6 1 for the parameters which you can initialize Clicking Return to value before adjustment in the one touch tuning window of MR Configurator2 enables to return the parameter to the value before clicking the start button One touch Tuning mi axis v MhReturm to value before adjustment Return to initial value f Setting O User command method Start to operate before pressing Start button Servo motor cannot start in stop status Amplifier command method Set the permissible travel distance and execute the one touch tuning in auto operation Permissible travel distance 1 214748364 pube uni 16777216 pulse 7 Servo motor rotation amount 4 0 rev Please do not start when servo motor is rotating Test operation cannot be executed when adjustment starts in amplifier command method A Motor rotates when press the Start button Response mode QhHigh mode Execute the response mode for machines with high rigidity S Basicmode Execute the response mode for standard machines Low mode Execute the response mode for machines with low rigidity L Sa Error code Status 0000 Adjustment result Settling time Overshoot amount Encoder pulse unit To further improve performance Fine adjust the model loop gain Detailed Setting Set the detailed parameter relating to One touch tuning Whe
302. where moving part collision never occurs or execute the one touch tuning in a state in which the servo motor can immediately stop in emergency After the response mode is selected in 2 in this section clicking the start button will start one touch tuning If the start button is clicked while the servo motor stops C002 or C004 will be displayed at status in error code Refer to 5 in this section for error codes Click the start button to start the one touch tuning in the amplifier command method with the servo off the servo on will be automatically enabled and the one touch tuning will start In the one touch tuning by the amplifier command method an optimum tuning command will be generated in the servo amplifier after servo on Then the servo motor will reciprocate and the one touch tuning will be executed After the tuning is completed or canceled the servo amplifier will be the servo off status When the servo on command is inputted from outside the amplifier will be the servo on status 6 11 6 NORMAL GAIN ADJUSTMENT After one touch tuning is executed using the amplifier command method control will not be performed by commands from the controller To return to the state in which control is performed by commands from the controller reset the controller or cycle the power One touch Tuning Start to operate before pressing Start button Servo motor cannot start in stop status Amplifier command method

mr-je-_b servo amplifier instruction manual

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