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Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003, Instruction Manual

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Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003 Instruction Manual Download Page 133

 

 

7 -  4 

7. GENERAL GAIN ADJUSTMENT 

 
7.2.2 Auto tuning mode operation 

The block diagram of real-time auto tuning is shown below. 

Servo
motor

Command

Automatic setting

Control gains

PG1,VG1

PG2,VG2,VIC

Current 

control

Current feedback

Load inertia 
moment

Encoder

Position/speed 
feedback

Real-time auto 
tuning section

Speed feedback

Load inertia 

moment ratio 

estimation section

Gain 
table

Parameter No. 2

Gain adjustment
mode selection

First digit
Response level
setting

Parameter No. 34
Load inertia moment 
ratio estimation value

Set 0 or 1 to turn on.

Switch

 

 
When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always 
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of 
estimation are written to parameter No.34 (the ratio of load inertia moment to servo motor). These results can 
be confirmed on the status display screen of the MR Configurator (servo configuration software) section. 
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose 
the "auto tuning mode 2" (parameter No.2:  2

) to stop the estimation of the load inertia moment ratio 

(Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.34) manually. 
From the preset load inertia moment ratio (parameter No.34) value and response level (The first digit of 
parameter No.2), the optimum control gains are automatically set on the basis of the internal gain tale. 
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 control gain saved in the EEP-ROM being used as 
an initial value. 
 

POINT 

 

If sudden disturbance torque is imposed during operation, the estimation of the 

inertia moment ratio may malfunction temporarily. In such a case, choose the 
"auto tuning mode 2" (parameter No.2:  2

) and set the correct load inertia 

moment ratio in parameter No.34. 

When any of the auto tuning mode 1, auto tuning mode 2 and manual mode 1 

settings is changed to the manual mode 2 setting, the current control gains and 
load inertia moment ratio estimation value are saved in the EEP-ROM. 

 

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Summary of Contents for EZMOTION MR-E Super MR-E-10A-QW003

Page 1: ... Instruction Manual uses recycled paper MODEL MODEL CODE MR E A QW003 MR E AG QW003 Instruction Manual General Purpose AC Servo EZMOTION MR E Super General Purpose Interface MODEL MR E A QW003 INSTRUCTION MANUAL MR E AG QW003 HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 www DataSheet4U com ...

Page 2: ...ions resulting in death or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and wh...

Page 3: ...er supply and L1 L2 and L3 of the servo amplifier and configure the wiring to be able to shut down the power supply on the side of the servo amplifier s power supply If a magnetic contactor MC is not connected continuous flow of a large current may cause a fire when the servo amplifier malfunctions When a regenerative resistor is used use an alarm signal to switch main power off Otherwise a regene...

Page 4: ...ds When you keep or use it please fulfill the following environmental conditions Conditions Environment Servo amplifier Servo motor 0 to 55 non freezing 0 to 40 non freezing In operation 32 to 131 non freezing 32 to 104 non freezing 20 to 65 non freezing 15 to 70 non freezing Ambient temperature In storage 4 to 149 non freezing 5 to 158 non freezing In operation 90 RH or less non condensing 80 RH ...

Page 5: ... connect AC power directly to the servo motor Otherwise a fault may occur The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction Otherwise the emergency stop and other protective circuits may not operate RA Control output signal RA Control output signal Servo amplifier Servo amplifier SG SG When the cable is not tightened e...

Page 6: ...tructure e g where a ball screw and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the servo motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault use a servo motor with electromagnetic brake or an extern...

Page 7: ...riod of time hand turn the motor output shaft to confirm that nothing is wrong with the servo motor When the servo motor is equipped with a brake make the above check after releasing the brake with the brake power supply When the equipment has been stored for an extended period of time consult Mitsubishi 7 Maintenance inspection and parts replacement CAUTION With age the electrolytic capacitor of ...

Page 8: ...ere major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system EEP ROM life The number of write times to the EEP ROM which stores parameter settings etc is limited to 100 000 If the total number of the following operations exceeds 100 000 the servo amplifier and or converter unit may fail when the EEP ROM reaches the end of its useful ...

Page 9: ...rective 2 PRECAUTIONS FOR COMPLIANCE 1 Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model Servo amplifier MR E 10A QW003 to MR E 200A QW003 MR E 10AG QW003 to MR E 200AG QW003 Servo motor HF KE W1 S100 HF SE JW1 S100 2 Configuration Reinforced insulating transformer NFB MC M Circuit breaker Magnetic contactor Reinforced insulating ...

Page 10: ...e servo motor side power connector which complies with the EN Standard The EN Standard compliant power connector sets are available from us as options Refer to section 13 1 2 7 Auxiliary equipment and options a The circuit breaker and magnetic contactor used should be the EN or IEC standard compliant products of the models described in section 13 2 2 b The sizes of the cables described in section ...

Page 11: ... discharge time The capacitor discharge time is as listed below To ensure safety do not touch the charging section for 15 minutes after power off Servo amplifier Discharge time min MR E 10A QW003 MR E 10AG QW003 MR E 20A QW003 MR E 20AG QW003 1 MR E 40A QW003 MR E 40AG QW003 2 MR E 70A QW003 to MR E 200AG QW003 MR E 70AG QW003 to MR E 200AG QW003 3 5 Options and auxiliary equipment Use UL C UL sta...

Page 12: ...n diagram of servo amplifier 3 9 3 3 I O signals 3 10 3 3 1 Connectors and signal arrangements 3 10 3 3 2 Signal explanations 3 13 3 4 Detailed description of the signals 3 19 3 4 1 Position control mode 3 19 3 4 2 Internal speed control mode 3 24 3 4 3 Position internal speed control change mode 3 26 3 5 Alarm occurrence timing chart 3 28 3 6 Interfaces 3 29 3 6 1 Common line 3 29 3 6 2 Detailed ...

Page 13: ...4 Alarm history clear 5 28 5 2 5 Position smoothing 5 29 6 DISPLAY AND OPERATION 6 1 to 6 14 6 1 Display flowchart 6 1 6 2 Status display 6 2 6 2 1 Display examples 6 2 6 2 2 Status display list 6 3 6 2 3 Changing the status display screen 6 4 6 3 Diagnostic mode 6 5 6 4 Alarm mode 6 6 6 5 Parameter mode 6 7 6 6 External I O signal display 6 8 6 7 Output signal DO forced output 6 10 6 8 Test opera...

Page 14: ...1 Trouble at start up 10 1 10 1 1 Position control mode 10 1 10 1 2 Internal speed control mode 10 4 10 2 When alarm or warning has occurred 10 5 10 2 1 Alarms and warning list 10 5 10 2 2 Remedies for alarms 10 6 10 2 3 Remedies for warnings 10 11 11 OUTLINE DIMENSION DRAWINGS 11 1 to 11 8 11 1 Servo amplifiers 11 1 11 2 Connectors 11 5 12 CHARACTERISTICS 12 1 to 12 4 12 1 Overload protection cha...

Page 15: ... 1 Installation orientation 14 7 14 3 2 Load remove precautions 14 7 14 3 3 Permissible load for the shaft 14 8 14 3 4 Protection from oil and water 14 8 14 3 5 Cable 14 9 14 3 6 Inspection 14 10 14 3 7 Life 14 10 14 3 8 Machine accuracies 14 11 14 4 Connectors used for servo motor wiring 14 12 14 4 1 Selection of connectors 14 12 14 4 2 Wiring connectors Connector configurations A B C 14 12 14 4 ...

Page 16: ...mplifier 15 11 15 2 3 Connectors and signal arrangements 15 12 15 2 4 Signal explanations 15 14 15 2 5 Detailed description of the signals 15 20 15 3 Startup 15 27 15 3 1 Speed control mode 15 27 15 3 2 Torque control mode 15 30 15 4 Parameters 15 32 15 4 1 Item list 15 32 15 4 2 Details list 15 35 15 5 Display and operation 15 55 15 5 1 Display flowchart 15 55 15 5 2 Status display 15 56 15 5 3 D...

Page 17: ...6 MEMO www DataSheet4U com ...

Page 18: ...cremental position encoder that has the resolution of 131072 pulses rev to ensure high precision positioning 1 Position control mode An up to 1Mpps high speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 131072 pulses rev resolution The position smoothing function provides a choice of two different modes appropriate for a machine so a smoot...

Page 19: ...rt Failure etc Controller Analog monitor 2 channels D C P NFB MC L1 L2 L3 CN1 CN3 RS 232C I F CN2 U V W U V W M RS 232C D A Note 3 Note 3 Note 3 Note 3 Note 3 Note 3 Note 2 Power supply Note 4 Cooling fan Current detector Diode stack B2 B1 Relay RA 24VDC Note 1 The built in regenerative resistor is not provided for the MR E 10A QW003 MR E 20A QW003 2 The single phase 230VAC can be used for MR E 70...

Page 20: ...eed protection excessive error protection Max input pulse frequency 1Mpps for differential receiver 200kpps for open collector Command pulse multiplying factor Electronic gear A 1 to 65535 B 1 to 65535 1 50 A B 50 In position range setting 0 to 10000 pulse command pulse unit Error excessive 2 5 revolutions Position control mode Torque limit Set by parameter setting Speed control range Internal spe...

Page 21: ...high frequency resonance which occurs as servo system response is increased P S Section 8 4 Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator servo configuration software installed personal computer and servo amplifier P Machine simulation Can simulate machine motions on a personal computer screen on the basis of the mac...

Page 22: ...wn on the 5 digit 7 segment LED display P S Section 6 2 External I O signal display ON OFF statuses of external I O signals are shown on the display P S Section 6 6 Output signal DO forced output Output signal can be forced on off independently of the servo status Use this function for output signal wiring check etc P S Section 6 7 Test operation mode Servo motor can be run from the operation sect...

Page 23: ...ated output Series Pulse train interface MR E Super servo amplifier Source I O interface MR E 40A QW003 or less MR E 70A QW003 MR E 100A QW003 MR E 200A QW003 Symbol Symbol Rated output W Rated output W 1 6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors The same combinations apply to the servo motor models with electromagnetic brakes Servo ...

Page 24: ...rations Communication connector CN3 Used to connect a command device RS 232C and output analog monitor data Chapter 6 Chapter 6 Section 3 3 Section 13 1 2 Section 3 3 I O signal connector CN1 Used to connect digital I O signals Encoder connector CN2 Use to connect the servo motor encoder Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables...

Page 25: ...t digital I O signals Rating plate Encoder connector CN2 Used to connect the servo motor encoder Power supply regenerative connector CNP1 Used to connect the input power supply and regenerative option Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Protective earth PE terminal Ground terminal Servo motor power connector CNP2 Used to c...

Page 26: ...e Power supply Options and auxiliary equipment Circuit breaker Magnetic contactor MR Configurator Servo configuration software Reference Section 13 2 2 Section 13 2 2 Section 13 1 4 Options and auxiliary equipment Regenerative option Cables Power factor improving reactor Reference Section 13 1 1 Section 13 2 1 Section 13 2 3 Circuit breaker NFB or fuse Power factor improving reactor FR BAL Magneti...

Page 27: ...fier Regenerative option Personal computer Options and auxiliary equipment Circuit breaker Magnetic contactor Reference Section 13 2 2 Section 13 2 2 Section 13 1 4 Options and auxiliary equipment Regenerative option Cables Power factor improving reactor Reference Section 13 1 1 Section 13 2 1 Section 13 2 3 MR Configurator Servo configuration software MR Configurator Servo configuration software ...

Page 28: ...e servo amplifier Do not block the intake exhaust ports of the servo amplifier Otherwise a fault may occur Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment Do not install or operate a faulty servo amplifier When the product has been stored for an extended period of time consult Mitsubishi When treating the servo amplifier be careful about the edged p...

Page 29: ...r more 40mm or more Servo amplifier 40mm or more Wiring clearance Top Bottom 70mm 2 Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions MODE CN3 SET CN1 CN2 CNP2 CNP1 L3 L2L1 ...

Page 30: ...ke the internal pressure higher than the external pressure to prevent such materials from entering the control box 2 4 Cable stress 1 The way of clamping the cable must be fully examined so that flexing stress and cable s own weight stress are not applied to the cable connection 2 For use in any application where the servo motor moves fix the cables encoder power supply brake supplied with the ser...

Page 31: ...2 4 2 INSTALLATION MEMO www DataSheet4U com ...

Page 32: ...minals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the emergency stop and other protective circuits RA Control output signal RA Control output signal Servo ampl...

Page 33: ...SN VIN 1 VIN CN1 13 SG SVRDY COM2 COM2 SVEND COM4 PGO VC FPO FP COM5 RP RPO CLR COM3 24 Positioning module Servo amplifier Note 7 Note 7 CN1 CN1 Note 2 Note 5 Trouble Zero speed Plate Note 7 Plate Note 3 4 Emergency stop Servo on Reset Note 4 Forward rotation stroke end Reverse rotation stroke end Note 6 Communication cable Note 6 Monitor output Max 1mA Reading in both directions Note 7 Note 1 CN1...

Page 34: ...m free condition When this signal is switched off at occurrence of an alarm the output of the controller should be stopped by the sequence program 6 When connecting the personal computer together with monitor outputs 1 2 use the branch cable MR E3CBL15 P Refer to section 13 1 3 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies to the command pulse trai...

Page 35: ...12 RA1 RA2 ALM ZSP 1 VIN CN1 13 SG 11 13 10 19 20 1 5 22 23 24 25 14 Note 7 24VDC Positioning module AD75P A1SD75P Servo amplifier Note 2 Note 5 Trouble Zero speed Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Encoder Z phase pulse open collector Note 3 4 Emergency stop Servo on Reset Note 4 Forward rotation stroke end Reverse rotation stroke end Not...

Page 36: ...nal is switched off at occurrence of an alarm the output of the controller should be stopped by the sequence program 6 When connecting the personal computer together with monitor outputs 1 2 use the branch cable MR E3CBL15 P Refer to section 13 1 3 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies to the command pulse train input in the differential li...

Page 37: ...0V 5V 5G Note 7 Positioning module QD75D Servo amplifier Note 7 CN1 Note 7 CN1 Note 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Note 7 Plate Note 3 4 Emergency stop Servo on Reset Note 4 Forward rotation stroke end Reverse rotation stroke end Note 6 Communication cable Note 1 Note 6 Monitor outp...

Page 38: ...hould be stopped by the sequence program 6 When connecting the personal computer together with monitor outputs 1 2 use the branch cable MR E3CBL15 P Refer to section 13 1 3 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies to the command pulse train input in the differential line driver system It is 2m or less in the open collector system 9 Use MRZJW3 ...

Page 39: ...PE terminal terminal marked of the servo amplifier to the protective earth PE of the control box 2 Connect the diode in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop and other protective circuits 3 The emergency stop switch normally closed contact must be installed 4 When starting operation always conn...

Page 40: ... LSP LSN SG EMG LSP LSN SG ST1 SD PP NG NP SD P 13 CN1 CN1 SON SON 4 3 8 6 7 ST2 5 2 22 23 24 25 Case P S INP SA 10 ALM ALM 9 ZSP ZSP 12 15 16 18 17 20 21 19 LA LAR LBR LB LZR OP LZ CN1 4 MO1 6 2 MO2 TXD CN3 1 RXD 3 LG PE LG 14 VIN VIN 1 Case SD Note Servo amplifier Approx 100 Approx 100 Approx 1 2k Approx 1 2k Approx 4 7k Note Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7k Note P Pos...

Page 41: ...arrangement CN1 MODE CN3 SET CN1 CN2 CNP2 CNP1 L3L2L1 D C P W V U CHARGE MITSUBISHI MR E 6 MO2 2 OPC 1 VIN 15 LA 14 LG 16 LAR 17 LB 3 RES 4 SON 6 LSP 5 CR 19 LZ 18 LBR 20 LZR 21 OP 7 LSN 8 EMG 10 INP 9 ALM 23 PP 22 PG 24 NG 25 NP 11 RD 12 ZSP 26 13 SG MO1 4 2 TXD 2 TXD 5 3 LG 1 RXD The connector frames are connected with the PE earth terminal inside the servo amplifier 9 4 MRR 2 LG 8 6 1 P5 5 10 3...

Page 42: ...ES RES ST1 ST1 No 43 to 48 4 I SON SON SON No 43 to 48 5 I CR LOP ST2 No 43 to 48 6 I LSP LSP LSP No 43 48 7 I LSN LSN LSN No 43 48 8 I EMG EMG EMG 9 O ALM ALM ALM No 49 10 O INP INP SA SA No 49 11 O RD RD RD No 49 12 O ZSP ZSP ZSP No 1 49 13 SG SG SG 14 LG LG LG 15 O LA LA LA 16 O LAR LAR LAR 17 O LB LB LB 18 O LBR LBR LBR 19 O LZ LZ LZ 20 O LZR LZR LZR 21 O OP OP OP 22 I PG PG 23 I PP PP 24 I NG...

Page 43: ...rtion control MBR Electromagnetic brake interlock ST1 Forward rotation start LZ ST2 Reverse rotation start LZR Encoder Z phase pulse differential line driver TL1 Internal Torque limit selection LA RES Reset LAR Encoder A phase pulse differential line driver EMG Emergency stop LB LOP Control change LBR Encoder B phase pulse differential line driver PP VIN Digital I F power supply input NP OPC Open ...

Page 44: ...parameter No 41 to switch this signal on keep terminals connected automatically in the servo amplifier DI 1 Reset RES CN1 3 Disconnect RES VIN for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset RES Refer to section 10 2 1 Shorting RES VIN in an alarm free status shuts off the base circuit The base circuit is not shut off when 1 is set in parameter No 51 This devic...

Page 45: ...0 0 0 Internal speed command 1 parameter No 8 DI 1 Speed selection 3 0 0 1 Internal speed command 1 parameter No 8 0 1 0 Internal speed command 2 parameter No 9 0 1 1 Internal speed command 3 parameter No 10 1 0 0 Internal speed command 4 parameter No 72 1 0 1 Internal speed command 5 parameter No 73 1 1 0 Internal speed command 6 parameter No 74 1 1 1 Internal speed command 7 parameter No 75 Note...

Page 46: ...arameter No 3 0 1 Parameter No 69 1 0 Parameter No 70 1 1 Parameter No 71 Note 0 CM1 CM2 VIN off open 1 CM1 CM2 VIN on short Gain changing CDP When using this signal make it usable by the setting of parameter No 43 to 48 Connect CDP VIN to change the load inertia moment ratio into the parameter No 61 setting and the gain values into the values multiplied by the parameter No 62 to 64 settings DI 1 ...

Page 47: ...the servo motor speed has not reached the preset speed with both forward rotation start ST1 and reverse rotation start ST2 turned off SA turns on when the servo motor speed has nearly reached the preset speed When the preset speed is 20r min or less SA always turns on DO 1 Zero speed ZSP CN1 12 ZSP VIN are connected when the servo motor speed is zero speed 50r min or less Zero speed can be changed...

Page 48: ... AL 12 Memory error 1 AL 13 Clock error AL 15 Memory error 2 0 0 0 AL 17 Board error AL 19 Memory error 3 AL 37 Parameter error AL 8A Serial communication timeout AL 8E Serial communication error AL 30 Regenerative error 0 1 0 AL 33 Overvoltage 0 0 1 AL 10 Undervoltage AL 45 Main circuit device AL 46 Servo motor overheat 0 1 1 AL 50 Overload 1 AL 51 Overload 2 AL 24 Main circuit error 1 0 0 AL 32 ...

Page 49: ...0 The same signal as OP is output in the differential line driver system DO 2 Analog monitor 1 MO1 CN3 4 Used to output the data set in parameter No 17 to across MO1 LG in terms of voltage Resolution 10 bits Analog output Analog monitor 2 MO2 CN3 6 Used to output the data set in parameter No 17 to across MO2 LG in terms of voltage Resolution 10 bits Analog output 3 Communication Control mode Signa...

Page 50: ...importing a pulse train A and B phase pulse trains are imported after they have been multiplied by 4 Pulse train form Forward rotation command Reverse rotation command Parameter No 21 Command pulse train Forward rotation pulse train Reverse rotation pulse train PP NP 0010 Pulse train sign PP NP L H 0011 Negative logic A phase pulse train B phase pulse train PP NP 0012 Forward rotation pulse train ...

Page 51: ...ance to a pulse train signal line The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 The waveforms in the table in 1 a of this section are voltage waveforms of PP and NP based on SG Their relationships with transistor ON OFF are as follows ON OFF ON OFF ON OFF ON OFF Forward rotation ...

Page 52: ...n signal line The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 For the differential line driver the waveforms in the table in 1 a of this section are as follows The waveforms of PP PG NP and NG are based on that of the ground of the differential line driver PP PG NP NG Forward rotat...

Page 53: ...ady RD ON OFF Yes No 80ms or less 10ms or less 10ms or less ON OFF 4 Electronic gear switching The combination of CM1 VIN and CM2 VIN gives you a choice of four different electronic gear numerators set in the parameters As soon as CM1 CM2 is turned ON or OFF the numerator of the electronic gear changes Therefore if any shock occurs at this change use position smoothing parameter No 7 to relieve sh...

Page 54: ...0 0 100 Max torque Torque Torque limit value b Torque limit value selection When internal torque limit selection TL1 is made usable by parameter No 43 to 48 internal torque limit 2 parameter No 76 can be selected However if the parameter No 28 value is less than the limit value selected by parameter No 76 the parameter No 28 value is made valid Note External input signals TL1 Torque limit value ma...

Page 55: ...signals Note 2 Rotation direction ST2 ST1 Internal speed commands 0 0 Stop Servo lock 0 1 CCW 1 0 CW 1 1 Stop Servo lock Note 1 0 ST1 ST2 VIN off open 1 ST1 ST2 VIN on short 2 Releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position deviation from the instructed position The forward rotation start ST1 and reverse rotation start ST2 can be ...

Page 56: ...and 4 parameter No 72 1 0 1 Internal speed command 5 parameter No 73 1 1 0 Internal speed command 6 parameter No 74 1 1 1 Internal speed command 7 parameter No 75 Note 0 SP1 SP2 SP3 VIN off open 1 SP1 SP2 SP3 VIN on short The speed may be changed during rotation In this case the values set in parameters No 11 and 12 are used for acceleration deceleration When the speed has been specified under any...

Page 57: ...hanged in the zero speed status To ensure safety change control after the servo motor has stopped When position control mode is changed to speed control mode droop pulses are reset If the LOP has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below ON OFF ON OFF P...

Page 58: ...en the speed set by the internal speed command 1 and the speed set by the Internal speed command 2 as indicated in the following table Note External input signals SP1 Speed command value 0 Internal speed command 1 parameter No 8 1 Internal speed command 2 parameter No 9 Note 0 SP1 VIN off open 1 SP1 VIN on short The speed may also be changed during rotation In this case it is increased or decrease...

Page 59: ... Note Note Shut off the power as soon as an alarm occurs 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching power off then on to reset the overcurrent AL 32 overload 1 AL 50 or overload 2 AL 51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to temperature rise Securely remove the cause of the alarm and also ...

Page 60: ... MRR SD M DI 1 VIN LG SD CN3 CN2 SD MO1 MO2 LG SG TXD RXD RS 232C LAR etc LG ALM etc DO 1 RA External power supply 24VDC Note Servo motor Ground Servo motor encoder Analog monitor output Differential line driver output 35mA max Note For the open collection pulse train input Make the following connection for the different line driver pulse train input PP NP PG NG SG OPC www DataSheet4U com ...

Page 61: ...IN External power supply 24VDC 200mA or more 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Provide a diode D for an inductive load or an inrush current suppressing resistor R for a lamp load Rated current 40mA or less maximum current 50mA or less inrush current 100mA or less a Inductive load Note External power supply 24VDC 10 If polarity of diode is reversed servo amp...

Page 62: ...en collector or differential line driver system a Open collector system 1 Interface OPC PP NP SG SD Servo amplifier Max input pulse frequency 200kpps Approx 1 2k External power supply 24VDC 2m 78 74in or less Note Note Pulse train input interface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line ...

Page 63: ...terface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line 2 Conditions of the input pulse 0 9 PP PG tc tHL tc tLH tF tLH tHL 0 1 s tc 1 s tF 3 s NP NG 0 1 4 Encoder pulse output a Open collector system Interface Servo amplifier OP 5 to 24VDC Photocoupler SD Max output current 35mA LG Servo amplif...

Page 64: ...26LS32 or equivalent High speed photocoupler 150 100 2 Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T 2 400 s or more OP Time cycle T is determined by the settings of parameter No 27 and 54 5 Analog output Output voltage 10V Max 1mA Max output current Resolution 10bit MO1 MO2 LG SD A Servo amplifier Reading in one or both directions 1mA meter 10k www DataSheet4U com ...

Page 65: ...t the regenerative resistor causing a fire POINT The power supply connector CNP1 is optional Purchase it without fail 3 7 1 Connection example Wire the power supply and main circuit as shown below so that the servo on SON turns off as soon as alarm occurrence is detected and power is shut off A circuit breaker NFB must be used with the input cables of the power supply 1 For 3 phase 200 to 230VAC p...

Page 66: ...fier Power supply MR E 10A QW003 to MR E 70A QW003 MR E 100A QW003 MR E 200A QW003 L2 3 phase 200 to 230VAC 50 60Hz L1 L2 L3 1 phase 230VAC 50 60Hz L1 L2 Power supply L3 U V Servo motor W Connect to the servo motor power terminals U V W During power on do not open or close the motor power line Otherwise a malfunction or faulty may occur P C Regenerative option D To use the built in regenerative re...

Page 67: ...0ms ON OFF ON OFF ON OFF ON OFF ON OFF power supply Base circuit Servo on SON Reset RES Ready RD SON accepted 1 to 2s 2s or longer Power on timing chart 3 Emergency stop CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately Make up a circuit which shuts off power as soon as EMG VIN are opened at an emergency stop To ensure saf...

Page 68: ...for supplying the power to the motor is optional Be sure to purchase it The connection method differs according to the series and capacity of the servo motor and whether or not the servo motor has the electromagnetic brake Perform wiring in accordance with this section 1 For grounding connect the earth cable of the servo motor to the protective earth PE terminal of the servo amplifier and connect ...

Page 69: ...netic brake interlock MBR AWG20 AWG20 Note 1 Trouble ALM Emergency stop EMG U V W Note 2 MR BKS1CBL M A1 L MR BKS1CBL M A2 L MR BKS1CBL M A1 H MR BKS1CBL M A2 H Note 1 Connect a surge absorber as close to the servo motor as possible 2 There is no polarity in electromagnetic brake terminals B1 and B2 3 When using a servo motor with electromagnetic brake assign the electromagnetic brake interlock MB...

Page 70: ...gency stop EMG Extension cable To be fabricated Note 1 c Relay connector for extension cable Note 1 d Relay connector for motor brake cable Note 3 Note 1 Use of the following connectors is recommended when ingress protection IP65 is necessary Relay Connector Description Protective Structure a Relay connector for extension cable Connector RM15WTPZ 4P 71 Cord clamp RM15WTP CP 5 71 Hirose Electric Nu...

Page 71: ...al equipment Refer to section 13 1 2 For types other than those prepared as optional equipment refer to chapter Servo motor side connectors Servo motor Encoder Power supply Electromagnetic brake HF SE52JW1 S100 HF SE102JW1 S100 HF SE152JW1 S100 MS3102A18 10P HF SE202JW1 S100 MS3102A20 29P MS3102A22 22P CN10 R2P DDK b c a Detector connector signal allotment MS3102A20 29P Power supply connector sign...

Page 72: ...iring diagrams Note the following when the servo motor equipped with electromagnetic brake is used 1 Set 1 in parameter No 1 to make the electromagnetic brake interlock MBR valid Note that this will make the zero speed signal ZSP unavailable 2 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the elect...

Page 73: ...to about the same as the electromagnetic brake operation delay time to prevent a drop Servo motor speed Electromagnetic brake MBR ON OFF Base circuit Invalid ON Valid OFF ON OFF Servo on SON Electromagnetic brake operation delay time Tb Coasting 0 r min 60ms 80ms 2 Emergency stop EMG ON OFF Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid OFF Emergency sto...

Page 74: ...Electromagnetic brake operation delay time Electromagnetic brake 10ms 4 Power off Servo motor speed ON OFF Base circuit Electromagnetic brake interlock MBR Invalid ON Valid OFF Trouble ALM No ON Yes OFF ON OFF Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Power Note 15 to 100ms 10ms Electromagnetic brake operation delay time Note Changes with the operating status Note 2 w...

Page 75: ... noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Control box Servo amplifier L1 L2 L3 CN1 Line filter NFB MC Protective earth PE CN2 U V W Outer box Servo motor Ensure to connect it to PE terminal of the servo amplifier Do not connect it direc...

Page 76: ...1 1 2 and 3 of section 13 2 1 1 Termination of the cables Solid wire After the sheath has been stripped the cable can be used as it is 8 to 9 mm Twisted wire Use the cable after stripping the sheath and twisting the core At this time take care to avoid a short caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault www DataSheet4U com ...

Page 77: ... 3 3 to 3 5 b When using the flat blade screwdriver part 1 1 Insert the screwdriver into the square hole Insert it along the top of the square hole to insert it smoothly 2 If inserted properly the screwdriver is held 3 With the screwdriver held insert the cable in the direction of arrow Insert the cable as far as it will go 4 Releasing the screwdriver connects the cable www DataSheet4U com ...

Page 78: ... screwdriver into the square window at top of the connector 2 Push the screwdriver in the direction of arrow 3 With the screwdriver pushed insert the cable in the direction of arrow Insert the cable as far as it will go 4 Releasing the screwdriver connects the cable www DataSheet4U com ...

Page 79: ...urely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell External conductor Sheath External conductor Pull back the external conductor to cover the sheath Sheath Core Strip the sheath Screw Screw Ground plate Cable www DataSheet4U com ...

Page 80: ...nal of the servo amplifier e When using the regenerative option the lead has been removed from across D P of the servo amplifier built in regenerative resistor and twisted cables are used for its wiring f When stroke end limit switches are used the signals across LSP VIN and LSN VIN are on during operation g 24VDC or higher voltages are not applied to the pins of connectors CN1 h SD and SG of conn...

Page 81: ...on 1 Switch off the servo on SON 2 When power is switched on the display shows C Cumulative feedback pulses and in two second later shows data 2 Test operation 1 Confirm servo motor operation by operating JOG of test operation mode at lowest speed possible Refer to section 6 8 2 3 Parameter setting Set the parameters according to the structure and specifications of the machine Refer to chapter 5 f...

Page 82: ...g the response level appropriate for the machine in parameter No 2 Refer to chapter 7 6 Home position return Make home position return as required 7 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to section 3 9 for the servo motor equipped with electromagnetic brake Note that the stop pattern of forward rotation stroke end LSP ...

Page 83: ...ontrol mode Regenerative option is not used Input filter 3 555ms initial value Electromagnetic brake interlock MBR is used 0 2 12 Middle response initial value is selected Auto tuning mode 1 is selected Set 1000r min Set 1500r min Internal speed command 1 Internal speed command 1 2000 Set 2000r min Internal speed command 1 11 1000 Set 1000ms Acceleration time constant 12 500 Set 500ms Deceleration...

Page 84: ...vo motor Refer to section 3 9 for the servo motor equipped with electromagnetic brake Note that simultaneous ON or simultaneous OFF of forward rotation stroke end LSP reverse rotation stroke end LSN OFF and forward rotation start ST1 or reverse rotation start ST2 signal has the same stop pattern as described below a Servo on SON OFF The base circuit is shut off and the servo motor coasts b Alarm o...

Page 85: ...4 6 4 OPERATION MEMO www DataSheet4U com ...

Page 86: ...arameter values but cannot change the expansion parameter values When fine adjustment e g gain adjustment is required change the parameter No 19 setting to make the expansion parameters write enabled The following table indicates the parameters which are enabled for reference and write by the setting of parameter No 19 Operation can be performed for the parameters marked Parameter No 19 setting Op...

Page 87: ...tronic gear denominator P 1 5 INP In position range P 100 pulse 6 PG1 Position loop gain 1 P 35 rad s 7 PST Position command acceleration deceleration time constant Position smoothing P 3 ms 8 SC1 Internal speed command 1 S 100 r min 9 SC2 Internal speed command 2 S 500 r min 10 SC3 Internal speed command 3 S 1000 r min 11 STA Acceleration time constant S 0 ms 12 STB Deceleration time constant S 0...

Page 88: ...put P S 100 ms 34 GD2 Ratio of load inertia moment to servo motor inertia moment P S 70 Multiplier 10 1 35 PG2 Position loop gain 2 P 35 rad s 36 VG1 Speed loop gain 1 P S 177 rad s 37 VG2 Speed loop gain 2 P S 817 rad s 38 VIC Speed integral compensation P S 48 ms 39 VDC Speed differential compensation P S 980 40 For manufacturer setting 0 41 DIA Input signal automatic ON selection P S 0000 42 DI...

Page 89: ...ing ratio P 100 63 VG2B Speed control gain 2 changing ratio P S 100 64 VICB Speed integral compensation changing ratio P S 100 65 CDP Gain changing selection P S 0000 66 CDS Gain changing condition P S 10 Note 2 67 CDT Gain changing time constant P S 1 ms 68 For manufacturer setting 0 69 CMX2 Command pulse multiplying factor numerator 2 P 1 70 CMX3 Command pulse multiplying factor numerator 3 P 1 ...

Page 90: ...ion 0 HF KE W1 S100 1 HF SE JW1 S100 Motor capacity selection 0 100W 1 200W 2 400W 3 500W 4 750W 5 1kW 6 1 5kW 7 2kW POINT Wrong setting may cause the regenerative option to burn If the regenerative option selected is not for use with the servo amplifier parameter error AL 37 occurs 0 STY 100W 0000 200W 1000 400W 2000 750W 4000 1kW 5010 2kW 6010 Refer to name and function column P S Basic paramete...

Page 91: ...A 105Hz B 130Hz C 160Hz D 200Hz E 240Hz F 300Hz Set value Gain adjustment mode 0 Description 1 3 Simple manual adjustment 4 Manual adjustment of all gains Interpolation mode Fixes position control gain 1 parameter No 6 Auto tuning mode 1 Fixes the load inertia moment ratio set in parameter No 34 Response level setting can be changed Manual mode 1 Manual mode 2 2 Auto tuning mode 2 Ordinary auto tu...

Page 92: ...or linear acceleration deceleration control system When you choose linear acceleration deceleration the setting range is 0 to 10ms Setting of longer than 10ms is recognized as 10ms POINT 7 PST When you have chosen linear acceleration deceleration do not select control selection parameter No 0 and restart after instantaneous power failure parameter No 20 Doing so will cause the servo motor to make ...

Page 93: ... from the rated speed in response to the internal speed commands 1 to 7 0 ms 0 to 20000 S Basic parameters 13 STC S pattern acceleration deceleration time constant Used to smooth start stop of the servo motor Set the time of the arc part for S pattern acceleration deceleration STA Acceleration time constant parameter No 11 STB Deceleration time constant parameter No 12 STC S pattern acceleration d...

Page 94: ...ry clear is made valid the alarm history is cleared at next power on After the alarm history is cleared the setting is automatically made invalid reset to 0 Serial communication response delay time 0 Invalid 1 Valid reply sent after delay time of 800 s or more 0 0000 Refer to name and function column P S Basic parameters 17 MOD Analog monitor output Used to selection the signal provided to the ana...

Page 95: ...ode Position Position internal speed Internal speed Status display at power on Cumulative feedback pulses Cumulative feedback pulses servo motor speed Servo motor speed 1 Depends on the first digit setting of this parameter 0000 Refer to name and function column P S Parameter write inhibit Used to select the reference and write ranges of the parameters Operation can be performed for the parameters...

Page 96: ...press vibration at a stop 0 Invalid 1 Valid Encoder cable communication system selection Incorrect setting will result in an encoder alarm 1 AL 16 or encoder alarm 2 AL 20 0 Two wire type 1 Four wire type If the power supply voltage has returned to normal after an undervoltage status caused by the reduction of the input power supply voltage in the speed control mode the servo motor can be restarte...

Page 97: ...xpansion parameters 1 27 ENR Encoder output pulses Used to set the encoder pulses A phase or B phase output by the servo amplifier Set the value 4 times greater than the A phase or B phase pulses You can use parameter No 54 to choose the output pulse designation or output division ratio setting The number of A B phase pulses actually output is 1 4 times greater than the preset number of pulses The...

Page 98: ... case it varies between 0 and 1000 70 Multi plier 10 1 0 to 3000 P S 35 PG2 Position loop gain 2 Used to set the gain of the position loop Set this parameter to increase the position response to level load disturbance Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is...

Page 99: ...o need of external wiring Reverse rotation stroke end LSN input selection Forward rotation stroke end LSP input selection 0 0000 P S 42 DI1 0002 Refer to name and function column P S Expansion parameters 1 Input signal selection 1 Used to assign the control mode changing signal input pins and to set the clear CR Control change LOP input pin assignment Used to set the control mode change signal inp...

Page 100: ... control mode are indicated below by their symbols Setting of any other signal will be invalid Set value Note Control mode P S 0 1 2 3 4 5 6 7 8 9 SON SON RES RES PC PC SP1 SP2 ST1 ST2 CR CR A SP3 B C D TL1 E CDP CM1 CM2 TL1 CDP F Note P Position control mode S Internal speed control mode This parameter is unavailable when parameter No 42 is set to assign the control change LOP to CN1 pin 4 This p...

Page 101: ...nput signal selection 2 parameter No 43 Position control mode Input signals of CN1 pin 5 selected Internal speed control mode 0 9 This parameter is unavailable when parameter No 42 is set to assign the control change LOP to CN1 pin 5 This parameter is unavailable when parameter No 48 is set to assign the Forward rotation stroke end LSP and Reverse rotation stroke end LSN to be assigned to CN1 pin ...

Page 102: ...SP and reverse rotation stroke end LSN will be assigned If the signals have already been assigned using parameter No 42 to 47 this parameter setting has preference However if the forward rotation stroke end LSP is assigned at pin 6 of CN1 default setting the setting of parameter No 46 takes priority Similarly if the reverse rotation stroke end LSN is assigned at pin 7 of CN1 default setting the se...

Page 103: ...nerative error Main circuit device overheat Overload 1 Overload 2 Main circuit Overcurrent Overspeed Command pulse frequency error Error excessive Encoder error 1 Encoder error 2 Alarm display Note Alarm code CN1 pin 10 0 0 0 0 1 CN1 pin 11 0 0 1 1 0 1 CN1 pin 12 1 1 0 1 0 1 0 AL 19 Memory error 3 AL 37 Parameter error AL 33 Overvoltage AL 46 Servo motor overheat AL 10 Undervoltage 1 0 0 AL 1A Mot...

Page 104: ... selection 0 With station numbers 1 No station numbers 0000 Refer to name and function column P S Expansion parameters 2 54 OP9 Function selection 9 Use to select the command pulse rotation direction encoder output pulse direction and encoder pulse output setting 0 0 1 CCW CW CW CCW Servo motor rotation direction changing Changes the servo motor rotation direction for the input pulse train Set val...

Page 105: ...otch frequency selection Set 00 when you have set adaptive vibration suppression control to be valid or held parameter No 60 1 or 2 00 01 02 03 04 05 06 07 Setting value Frequency Invalid 4500 2250 1500 1125 900 750 642 9 08 09 0A 0B 0C 0D 0E 0F 562 5 500 450 409 1 375 346 2 321 4 300 Frequency 10 11 12 13 14 15 16 17 281 3 264 7 250 236 8 225 214 3 204 5 195 7 Frequency 18 19 1A 1B 1C 1D 1E 1F 18...

Page 106: ...achine resonance is stopped Adaptive vibration suppression control sensitivity selection Used to set the sensitivity of machine resonance detection 0 Normal 1 Large sensitivity Hz 0000 Refer to name and function column P S 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid 70 Mu...

Page 107: ...item Refer to section 8 5 10 kpps pulse r min 10 to 9999 P S 67 CDT Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in parameters No 65 and 66 Refer to section 8 5 1 ms 0 to 100 P S 68 For manufacturer setting Do not change this value by any means 0 69 CMX2 Command pulse multiplying factor numerator 2 Used to set the multip...

Page 108: ...C7 Internal speed command 7 Used to set speed 7 of internal speed commands 800 r min 0 to instant aneous permis sible speed S 76 TL2 Internal torque limit 2 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced When torque is output in analog monitor output this set value is the maximum output voltage 8V 100 0 to 100 P ...

Page 109: ... Parameter No 3 Electronic gear Feedback pulse CMX CDV Deviation counter Motor Encoder Input pulse train The following setting examples are used to explain how to calculate the electronic gear POINT The following specification symbols are required to calculate the electronic gear Pb Ball screw lead mm n Reduction ratio Pt Servo motor resolution pulses rev 0 Travel per command pulse mm pulse S Trav...

Page 110: ...g an ammeter enables monitoring the servo status 1 Setting Change the following digits of parameter No 17 Analog monitor 1 MO1 output selection Signal output to across MO1 LG Analog monitor 2 MO2 output selection Signal output to across MO2 LG Parameter No 17 0 0 Parameters No 31 and 32 can be used to set the offset voltages to the analog output voltages The setting range is between 999 and 999mV ...

Page 111: ...in CCW direction 7 Droop pulses Note 1 10V 2048pulse 10 V 0 2048 pulse 10 V CCW direction CW direction 2048 pulse 2 Servo motor speed 8 V Max speed 0 Max speed CCW direction CW direction 8 Droop pulses Note 1 10V 8192pulse 10 V 0 8192 pulse 10 V CCW direction CW direction 8192 pulse 3 Torque Note 2 8 V Max torque 0 Max torque Driving in CW direction Driving in CCW direction 9 Droop pulses Note 1 1...

Page 112: ...s outputted at the torque highly limited 3 Analog monitor block diagram PWM M Current control Speed control Current command Position control Droop pulse Differ ential Command pulse frequency Bus voltage Speed command Command pulse Current feedback Position feedback Servo motor speed Current encoder Servo motor Encoder Torque www DataSheet4U com ...

Page 113: ...top Position control mode Internal speed control mode The motor is decelerated to a stop in accordance with the parameter No 7 value The motor is decelerated to a stop in accordance with the parameter No 12 value 5 2 4 Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first To control alarms which will occur during operation cl...

Page 114: ...linear acceleration deceleration in parameter No 55 according to the machine used 1 For step input Command 3t t t Time t Input position command Position command after filtering for primary delay Position command after filtering for linear acceleration deceleration Position command acceleration deceleration time constant parameter No 7 2 For trapezoidal input Command Time t 3t t 3t t Input position...

Page 115: ...5 30 5 PARAMETERS MEMO www DataSheet4U com ...

Page 116: ...operation mode Positioning operation Test operation mode Motor less operation Software version low Software version high Manufacturer setting screen Current alarm Last alarm Second alarm in past Third alarm in past Fourth alarm in past Fifth alarm in past Sixth alarm in past Parameter error No Parameter No 0 Parameter No 1 Parameter No 18 Parameter No 19 Parameter No 20 Parameter No 21 Parameter N...

Page 117: ...display selected in parameter No 18 has been shown for 2 The servo amplifier display shows the lower five digits of 16 data items such as the servo motor speed 6 2 1 Display examples The following table lists display examples Displayed data Item Status Servo amplifier display Forward rotation at 3000r min Servo motor speed Reverse rotation at 3000r min Reverse rotation is indicated by Load inertia...

Page 118: ...indication of the cumulative feedback pulses The value in excess of 99999 is counted but since the servo amplifier display is five digits it shows the lower five digits of the actual value Press the SET button to reset the display value to zero When the servo motor is rotating in the reverse direction the decimal points in the upper four digits are lit 99999 to 99999 Command pulse frequency n kpps...

Page 119: ...nertia moment to the servo motor shaft inertia moment is displayed 0 0 to 300 0 Bus voltage Pn V The voltage across P N of the main circuit converter is displayed 0 to 450 6 2 3 Changing the status display screen The status display item of the servo amplifier display shown at power on can be changed by changing the parameter No 18 settings The item displayed in the initial status changes with the ...

Page 120: ... of the servo amplifier Positioning operation can be performed once when there is no command from the external command device Motor less operation Without connection of the servo motor the servo amplifier provides output signals and displays the status as if the servo motor is running actually in response to the external input signal For details refer to section 6 8 4 Test operation mode Machine a...

Page 121: ...h alarm in the past Indicates no occurrence of parameter error AL 37 Parameter error No Indicates that the data of parameter No 1 is faulty Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 Even during alarm occurrence the other screen can be viewed by pressing the button in the operation area At this time the decimal point in the fourth digit remains flickering 3 ...

Page 122: ...er screen The set value of the specified parameter number flickers UP DOWN The parameter number is displayed Press or to change the number Press SET twice Press UP once During flickering the set value can be changed Use or Press SET to enter 2 Internal speed control mode UP DOWN To shift to the next parameter press the UP DOWN button When changing the parameter No 0 setting change its set value th...

Page 123: ...7 segment LED shown above indicates ON OFF Each segment at top indicates the input signal and each segment at bottom indicates the output signal The signals corresponding to the pins in the respective control modes are indicated below Note 2 Signal abbreviation CN1 Pin No Input Output Note 1 I O P S Related parameter No 3 I RES ST1 43 to 47 4 I SON SON 43 to 47 5 I CR ST2 43 to 47 6 I LSP LSP 43 t...

Page 124: ... CN 1 12 Zero speed ALM CN 1 9 Trouble OP CN 1 21 Encoder Z phase pulse EMG CN 1 8 Emergency stop b Internal speed control mode Lit ON Extinguished OFF Input signals Output signals SON CN 1 4 Servo on LSN CN 1 7 Reverse rotation stroke end LSP CN 1 6 Forward rotation stroke end RD CN 1 11 Ready ZSP CN 1 12 Zero speed ALM CN 1 9 Trouble OP CN 1 21 Encoder Z phase pulse EMG CN 1 8 Emergency stop SA ...

Page 125: ... be performed in the servo off state Operation Call the display screen shown after power on Using the MODE button show the diagnostic screen Press UP twice Press SET for more than 2 seconds Switch on off the signal below the lit segment Indicates the ON OFF of the output signal The correspondences between segments and signals are as in the output signals of the external I O signal display Lit ON e...

Page 126: ...tion software is required to perform positioning operation Test operation cannot be performed if the servo on SON is not turned OFF 6 8 1 Mode change Call the display screen shown after power on Choose jog operation motor less operation in the following procedure Using the MODE button show the diagnostic screen When this screen appears jog feed can be performed Press UP three times Press SET for m...

Page 127: ...munication cable is disconnected during jog operation performed by using the MR Configurator servo configuration software the servo motor will be decelerated to a stop 2 Status display You can confirm the servo status during jog operation Pressing the MODE button in the jog operation ready status calls the status display screen With this screen being shown perform jog operation with the UP or DOWN...

Page 128: ...ial conditions and setting ranges for operation are listed below Item Initial setting Setting range Travel distance pulse 10000 0 to 9999999 Speed r min 200 0 to instantaneous permissible speed Acceleration deceleration time constant ms 1000 0 to 50000 How to use the buttons is explained below Button Description Forward Click to start positioning operation CCW Reverse Click to start positioning op...

Page 129: ...nfirm the servo status during motor less operation Pressing the MODE button in the motor less operation ready status calls the status display screen With this screen being shown perform motor less operation Every time you press the MODE button the next status display screen appears and on completion of a screen cycle pressing that button returns to the motor less operation ready status screen For ...

Page 130: ...ter No 6 GD2 parameter No 34 PG2 parameter No 35 VG1 parameter No 36 VG2 parameter No 37 VIC parameter No 38 Response level setting of parameter No 2 Auto tuning mode 2 020 PG1 parameter No 6 PG2 parameter No 35 VG1 parameter No 36 VG2 parameter No 37 VIC parameter No 38 GD2 parameter No 34 Response level setting of parameter No 2 Manual mode 1 030 PG2 parameter No 35 VG1 parameter No 36 PG1 param...

Page 131: ...h the MR Configurator servo configuration software which operates on a personal computer Function Description Adjustment Machine analyzer With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response You can grasp the machine resonance frequency and...

Page 132: ...y if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor inertia moment is not more than 100 times The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torque during ...

Page 133: ...nt ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 parameter No 2 2 to stop the estimation of the load inertia moment ratio Switch in above diagram turned off and set the load inertia moment ratio parameter No 34 manually From the preset load inertia moment ratio parameter No 34 value and response level The first digit of parameter No 2 the optimum cont...

Page 134: ...is as follows END Yes No Yes No No Yes Auto tuning adjustment Acceleration deceleration repeated Load inertia moment ratio estimation value stable Auto tuning conditions not satisfied Estimation of load inertia moment ratio is difficult Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfied To ma...

Page 135: ...arameter No 60 or machine resonance suppression filter parameter No 58 59 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 8 2 8 3 for adaptive vibration suppression control and machine resonance suppression filter Parameter No 2 Response level setting Gain adjustment mode selection Machine characteristic Resp...

Page 136: ...nce Refer to section 8 2 8 3 1 For speed control a Parameters The following parameters are used for gain adjustment Parameter No Abbreviation Name 34 GD2 Ratio of load inertia moment to servo motor inertia moment 37 VG2 Speed control gain 2 38 VIC Speed integral compensation b Adjustment procedure Step Operation Description 1 Set an estimated value to the ratio of load inertia moment to servo moto...

Page 137: ...ters The following parameters are used for gain adjustment Parameter No Abbreviation Name 6 PG1 Position control gain 1 34 GD2 Ratio of load inertia moment to servo motor inertia moment 37 VG2 Speed control gain 2 38 VIC Speed integral compensation b Adjustment procedure Step Operation Description 1 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment parameter ...

Page 138: ... frequency of the speed loop is as indicated in the following expression Speed control gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 Speed loop response frequency Hz 3 Speed integral compensation parameter No 38 To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the speed integral compensation set th...

Page 139: ...ol gain 1 parameter No 6 and speed control gain 1 parameter No 36 Check the upper setting limits 4 Set the interpolation mode parameter No 2 000 Select the interpolation mode 5 Using the position control gain 1 value checked in step 3 as the guideline of the upper limit set in PG1 the value identical to the position loop gain of the axis to be interpolated Set position control gain 1 6 Using the s...

Page 140: ... of the mechanical system 8 1 Function block diagram Speed control Machine resonance suppression filter 2 Encoder Current command Low pass filter Parameter No 58 Parameter No 60 Parameter No 59 Parameter No 60 Machine resonance suppression filter 1 Adaptive vibration suppression control 00 or 1 2 0 00 0 1 00 except 00 except Servo motor 8 2 Machine resonance suppression filter 1 Function The machi...

Page 141: ...ep notch 2 Parameters a Machine resonance suppression filter 1 parameter No 58 Set the notch frequency and notch depth of the machine resonance suppression filter 1 parameter No 58 When you have made adaptive vibration suppression control selection parameter No 60 valid or held make the machine resonance suppression filter 1 invalid parameter No 58 0000 Depth Gain Setting value Frequency Setting v...

Page 142: ...ics frequency depth are set automatically you need not be conscious of the resonance frequency of a mechanical system Also while adaptive vibration suppression control is valid the servo amplifier always detects machine resonance and if the resonance frequency changes it changes the filter characteristics in response to that frequency Mechanical system response level Mechanical system response lev...

Page 143: ...ing machine resonance Setting of large sensitivity detects smaller machine resonance and generates a filter to suppress machine vibration However since a phase delay will also increase the response of the servo system may not increase 8 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 ...

Page 144: ...nsure stability of the servo system since the load inertia moment ratio varies greatly during a stop e g a large load is mounted on a carrier 8 5 2 Function block diagram The valid control gains PG2 VG2 VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection CDP parameter No 65 and gain changing condition CDS parameter No 66 Valid GD2 value Comman...

Page 145: ...ng 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 Multiplier 10 1 Used to set the ratio of load inertia moment to servo motor inertia moment after changing 62 PG2B Position control gain 2 changing ratio Used to set the ratio of the after changing position control gain 2 to position control gain 2 63 VG2B Speed control gain 2 changing ratio Used to set the ratio of the after c...

Page 146: ...ol gain 2 changing ratio 100 180rad s Speed control gain 2 Speed control gain 2 Speed control gain 2 changing ratio 100 3000rad s Speed integral compensation Speed integral compensation Speed integral compensation changing ratio 100 16ms 4 Gain changing selection parameter No 65 Used to set the gain changing condition Choose the changing condition in the first digit If you set 1 here you can use t...

Page 147: ...Ratio of load inertia moment to servo motor inertia moment 2 100 Multiplier 10 1 62 PG2B Position control gain 2 changing ratio 70 63 VG2B Speed control gain 2 changing ratio 133 64 VICB Speed integral compensation changing ratio 250 65 CDP Gain changing selection 0001 Changed by ON OFF of pin CN1 10 67 CDT Gain changing time constant 100 ms b Changing operation OFF ON OFF Gain changing CDP Change...

Page 148: ...PG2B Position control gain 2 changing ratio 70 63 VG2B Speed control gain 2 changing ratio 133 64 VICB Speed integral compensation changing ratio 250 65 CDP Gain changing selection 0003 Changed by droop pulses 66 CDS Gain changing condition 50 pulse 67 CDT Gain changing time constant 100 ms b Changing operation CDT 100ms 0 Droop pulses pulses Change of each gain CDS CDS Before changing gain After ...

Page 149: ...8 10 8 SPECIAL ADJUSTMENT FUNCTIONS MEMO www DataSheet4U com ...

Page 150: ...for scratches and cracks Perform periodic inspection according to operating conditions e Check the servo motor shaft and coupling for misalignment 2 Life The following parts must be changed periodically as listed below If any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions Fo...

Page 151: ...spection d Bearings When the servo motor is run at rated speed under rated load change the bearings in 20 000 to 30 000 hours as a guideline This differs on the operating conditions The bearings must also be changed if unusual noise or vibration is found during inspection e Oil seal V ring Must be changed in 5 000 hours of operation at rated speed as a guideline This differs on the operating condi...

Page 152: ...shorted 2 Encoder is faulty LED is not lit LED flickers Improved when connector CN3 is disconnected Power supply of CN3 cabling is shorted 1 Power on Note Alarm occurs Refer to section 10 2 and remove cause Section 10 2 Alarm occurs Refer to section 10 2 and remove cause Section 10 2 2 Switch on servo on signal Servo motor shaft is not servo locked is free 1 Check the display to see if the servo a...

Page 153: ...Gain adjustment Large load inertia moment causes the servo motor shaft to oscillate side to side If the servo motor may be run with safety repeat acceleration and deceleration several times to complete auto tuning Gain adjustment fault Chapter 7 5 Cyclic operation Position shift occurs Confirm the cumulative command pulses cumulative feedback pulses and actual servo motor position Pulse counting e...

Page 154: ... amplifier s cumulative command pulses 2 CMX parameter No 3 CDV parameter No 4 P C cumulative command pulses electronic gear cumulative feedback pulses 3 C M cumulative feedback pulses travel per pulse machine position Check for a position shift in the following sequence 1 When Q P Noise entered the pulse train signal wiring between positioning unit and servo amplifier causing pulses to be miss co...

Page 155: ...gnal is not input Wiring mistake 2 24VDC power is not supplied to COM Section 6 6 Call the external I O signal display and check the ON OFF status of the input signal LSP LSN ST1 or ST2 is off Section 6 6 Check the internal speed commands 1 to 7 parameters No 8 to 10 72 to 75 Set value is 0 3 Switch on forward rotation start ST1 or reverse rotation start ST2 Servo motor does not rotate Check the i...

Page 156: ...T on current alarm screen Alarm reset RES signal AL 10 0 1 0 Undervoltage AL 12 0 0 0 Memory error 1 AL 13 0 0 0 Clock error AL 15 0 0 0 Memory error 2 AL 16 1 0 1 Encoder error 1 AL 17 0 0 0 Board error AL 19 0 0 0 Memory error 3 AL 1A 1 0 1 Motor combination error AL 20 1 1 0 Encoder error 2 AL 24 0 0 1 Main circuit error AL 30 0 1 0 Regenerative error Note 1 Note 1 Note 1 AL 31 0 1 1 Overspeed ...

Page 157: ... 2 There was an instantaneous control power failure of 60ms or longer 3 Shortage of power supply capacity caused the power supply voltage to drop at start etc 4 The bus voltage dropped to 200VDC Check the power supply AL 10 Undervoltage Power supply voltage dropped to 160VAC or less 5 Faulty parts in the servo amplifier Change the servo amplifier AL 12 Memory error 1 RAM memory fault AL 13 Clock e...

Page 158: ...e U V W power cables from the servo amplifier Change the servo amplifier 1 Wrong setting of parameter No 0 Set correctly 2 Built in regenerative resistor or regenerative option is not connected Connect correctly 3 High duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded Checking method Call the status display and c...

Page 159: ...ble current of the servo amplifier When the alarm AL 32 occurs switch the power OFF and then ON to reset the alarm Then turn on the servo on When the alarm AL 32 still occurs at the time the transistor IPM IGBT of the servo amplifier may be at fault Do not switch the power OFF ON repeatedly check the transistor according to the cause 2 checking method 4 External noise caused the overcurrent detect...

Page 160: ...mbient temperature of servo motor is over 40 104 Review environment so that ambient temperature is 0 to 40 104 2 Servo motor is overloaded 1 Reduce load 2 Review operation pattern 3 Use servo motor that provides larger output AL 46 Servo motor overheat Servo motor temperature rise actuated the thermal sensor 3 Thermal sensor in encoder is faulty Change the servo motor 1 Servo amplifier is used in ...

Page 161: ...ion control gain 1 parameter No 6 value is small Increase set value and adjust to ensure proper operation 5 Servo motor shaft was rotated by external force 1 When torque is limited increase the limit value 2 Reduce load 3 Use servo motor that provides larger output 6 Machine struck something 1 Review operation pattern 2 Install limit switches 7 Encoder faulty Change the servo motor AL 52 Error exc...

Page 162: ...e is a possibility that regenerative power may exceed permissible regenerative power of built in regenerative resistor or regenerative option Regenerative power increased to 85 or more of permissible regenerative power of built in regenerative resistor or regenerative option Checking method Call the status display and check regenerative load ratio 1 Reduce frequency of positioning 2 Change regener...

Page 163: ...10 12 10 TROUBLESHOOTING MEMO www DataSheet4U com ...

Page 164: ... 10A QW003 MR E 20A QW003 6 156 135 50 6 Approx 70 6 Mass 0 7 kg 1 54 lb Unit mm 168 Terminal signal layout CNP1 P C D U V W CNP2 Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in PE terminals L1 L2 L3 Mounting Screw Screw Size M5 Tightening torque 3 24 N m 28 676 lb in www DataSheet4U com ...

Page 165: ...35 168 6 Mass 1 1 kg 2 43 lb Unit mm 70 Approx 70 6 Terminal signal layout PE terminals CNP1 P C D U V W CNP2 Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in L1 L2 L3 Mounting Screw Screw Size M5 Tightening torque 3 24 N m 28 676 lb in www DataSheet4U com ...

Page 166: ...0 25 159 42 22 156 Mass 1 7 kg 3 75 lb Approx 70 6 Unit mm 168 6 Terminal signal layout PE terminals CNP1 P C D U V W CNP2 Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in L1 L2 L3 Mounting Screw Screw Size M5 Tightening torque 3 24 N m 28 676 lb in www DataSheet4U com ...

Page 167: ...6 Approx 70 195 6 Mass 2 0 kg 4 41 lb Unit mm 156 40 6 6 Terminal signal layout PE terminals U V W CNP2 CNP1 L1 L2 L3 P C D Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Mounting Screw Screw Size M5 Tightening torque 3 24 N m 28 676 lb in www DataSheet4U com ...

Page 168: ...here D Each type of dimension Connector Shell kit A B C D E 10126 3000PE 10326 52F0 008 25 8 37 2 14 0 10 0 12 0 b Jack screw M2 6 type This is not available as option Unit mm E B A 23 8 39 0 12 7 C D 5 2 F Logo etc are indicated here Each type of dimension Connector Shell kit A B C D E F 10126 3000PE 10326 52A0 008 25 8 37 2 14 0 10 0 12 0 27 4 www DataSheet4U com ...

Page 169: ...UTLINE DIMENSION DRAWINGS 2 CN2 Connector Molex Connector set 54599 1019 12 5 40 22 7 11 Unit mm 3 CN3 Connector Marushin electric mfg Connector MP371 6 Unit mm 6 44 5 8 95 5 6 3 4 2 1 14 8 5 www DataSheet4U com ...

Page 170: ...00 32 8 25 6 CNP1 1kW or less Crimping tool 57349 5300 Molex 2 5 5 0 5 25 11 4 8 5 15 3 Pitch Circuit number indication A B 6 5 4 3 2 1 Unit mm Variable dimensions mm in Connector A B Number of poles Application 51241 0300 22 8 15 3 CNP2 2kW 51241 0600 45 3 37 5 6 CNP1 2kW Crimping tool 57349 5300 Molex 3 75 Circuit number indication B A 3 2 1 4 5 6 7 5 Pitch 8 5 25 15 3 0 5 11 4 www DataSheet4U c...

Page 171: ...6 5 10 3 CNP2 1kW or less 54927 0610 31 5 25 6 CNP1 1kW or less 5 1 5 26 5 8 5 18 14 3 Housing Housing cover Pitch A B 5 Unit mm Variable dimensions mm Connector A B Number of poles Application 54928 0310 21 5 22 5 3 CNP2 2kW 54928 0610 44 37 5 6 CNP1 2kW 1 5 26 5 8 5 18 14 3 Housing Housing cover B A 7 5 7 5 Pitch 5 www DataSheet4U com ...

Page 172: ...2 Power supply equipment capacity and generated loss 1 Amount of heat generated by the servo amplifier Table 12 1 indicates servo amplifiers power supply capacities and losses generated under rated load For thermal design of an enclosure use the values in Table 12 1 in consideration for the worst operating conditions The actual amount of generated heat will be intermediate between values at rated ...

Page 173: ...to Table 12 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat dissipatio...

Page 174: ...nt converted into equivalent value on servo motor shaft kg cm 2 oz in 2 Brake time constant s te Delay time of control section s There is internal relay delay time of about 30ms Speed r min Time constant ms 0 0 1000 2000 5 10 15 20 25 3000 4000 5000 6000 43 13 23 73 Speed r min Time constant ms 52 500 1000 1500 2000 2500 3000 152 20 40 60 80 100 120 0 0 102 202 a HF KE W1 S100 b HF SE JW1 S100 Fig...

Page 175: ...control circuit The following table indicates the inrush currents reference value that will flow when the maximum permissible voltage 253VAC is applied at the power supply capacity of 2500kVA and the wiring length of 1m Inrush currents A0 p Servo amplifier Main circuit power supply L1 L2 L3 MR E 10A QW003 MR E 20A QW003 MR E 40A QW003 50A Attenuated to approx 10A in 10ms MR E 70A QW003 MR E 100A Q...

Page 176: ...A QW003 30 100 MR E 40A QW003 10 30 100 MR E 70A QW003 20 30 100 300 MR E 100A QW003 20 30 100 300 MR E 200A QW003 100 300 500 Note Always install a cooling fan 2 Selection of the regenerative option a Simple selection method In horizontal motion applications select the regenerative option as described below When the servo motor is run without load in the regenerative mode from the running speed t...

Page 177: ...Tpsd1 4 8 T4 TU E4 0 No regeneration 5 JL JM T5 9 55 10 4 N0 1 Tpsa2 TU TF E5 2 0 1047 N0 T5 Tpsa2 6 T6 TU TF E6 0 1047 N0 T6 t3 7 JL JM T7 9 55 104 N0 1 Tpsd2 TU TF E7 2 0 1047 N0 T7 Tpsd2 From the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies b Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencie...

Page 178: ...g by a cooling fan is required Please obtain a cooling fan at your discretion The regenerative option will cause a temperature rise of 100 relative to the ambient temperature Fully examine heat dissipation installation position used cables etc before installing the option For wiring use flame resistant cables and keep them clear of the regenerative option body Always use twisted cables of max 5m l...

Page 179: ...ing screw Screw size M5 Tightening torque 0 5 to 0 6 N m 4 to 5 lb in Variable dimensions Mass Regenerative option LA LB LC LD kg lb MR RB032 30 15 119 99 0 5 1 1 MR RB12 40 15 169 149 1 1 2 4 b MR RB32 MR RB30 7 10 90 100 335 17 318 Mounting screw G4 G3 C P Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Unit mm Terminal block Tightening torque 5 4 N m 47 79 lb in Regenerative option MR RB...

Page 180: ... 14 slot Cooling fan mounting screw 2 M3 screw On opposite side Wind blows in the arrow direction G3 G4 P C Tightening torque 5 4 N m 47 79 lb in Terminal block G4 G3 C P Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Unit mm in Mounting screw Screw M6 Regenerative option Mass kg lb MR RB50 5 6 12 3 www DataSheet4U com ...

Page 181: ...servo motor and other models Those indicated by broken lines in the figure are not options 14 12 13 9 13 Power supply Analog monitor Analog moniter Power supply connector Brake connector Encoder connector CNP1 CNP2 CN3 CN1 CN2 Servo motor HF SE JW1 S100 Regenerative option 6 1 2 40 41 34 35 10 11 20 21 28 29 18 19 22 23 15 16 17 3 4 5 7 8 36 37 38 39 20 21 22 23 Operation panel Controller Servo am...

Page 182: ... 36310 3200 008 3M or Connector set 54599 1019 Molex Plug D MS3106A20 29S D190 Cable clamp CE3057 12A 3 D Back shell CE02 20BS S D DDK 5 IP65 IP67 compliant encoder cable MR ENECBL M H Refer to 2 e in this section Long flex life IP65 IP67 Not oil resistant Receptacle 36210 0100PL Shell kit 36310 3200 008 3M or Connector set 54599 1019 Molex Housing 1 172161 9 Connector pin 170359 1 Tyco Electronic...

Page 183: ...in Musen Denki or equivalent Connector DE 9SF N Case DE C1 J6 S6 JAE For connection with PC AT compatible personal computer 15 Motor power supply connector set MR PWCNS4 For HF SP52 102 152 motor Plug CE05 6A18 10SD D BSS Cable clamp CE3057 10A 1 D DDK Example of applicable cable Wire size 2mm2 AWG14 to 3 5mm2 AWG12 Cable finish D 10 5 to 14 1mm IP67 16 Motor power supply connector set MR PWCNS5 F...

Page 184: ...its of 20 pcs box Connector 54928 0310 Molex or equivalent Insertion type 24 Motor power supply cable MR PWS1CBL M A1 L Cable length 2 5 10m IP65 Load side lead 25 Motor power supply cable MR PWS1CBL M A1 H Cable length 2 5 10m HF KE W1 S100 Power supply connector Refer to section 13 1 2 4 for details IP65 Load side lead Long flex life 26 Motor power supply cable MR PWS1CBL M A2 L Cable length 2 5...

Page 185: ...to section 13 1 2 5 for details IP55 Load side lead 35 Motor brake cable MR BKS2CBL03M A2 L Cable length 0 3m HF KE W1 S100 Brake connector Refer to section 13 1 2 5 for details IP55 Opposite to load side lead 36 Encoder cable MR J3ENCBL M A1 L Cable length 2 5 10m IP65 Load side lead 37 Encoder cable MR J3ENCBL M A1 H Cable length 2 5 10m HF KE W1 S100 Encoder connector Refer to section 13 1 2 2 ...

Page 186: ...r P5 and the cable used for LG should be within 2 4 When soldering the wire to the connector pin insulate and protect the connection portion using heat shrinkable tubing When using the encoder cable of four wire type communication system set 1 in parameter No 20 to select the four wire type Generally use the encoder cable available as our options If the required length is not found in the options ...

Page 187: ...ier 2 1 Servo motor HF KE W1 S100 MR J3ENCBL M A2 L MR J3ENCBL M A2 H 2 1 Servo motor HF KE W1 S100 MR J3ENCBL M A1 L MR J3ENCBL M A1 H or Cable model 1 For CN2 connector 2 For encoder connector MR J3ENCBL M A1 L Receptacle 36210 0100PL Shell kit 536310 3200 008 3M Connector set 54599 1019 Molex MR J3ENCBL M A1 H MR J3ENCBL M A2 L 1 3 7 9 4 2 8 6 10 5 Note Signal layout View seen from wiring side ...

Page 188: ...EKCBL30M H MR EKCBL40M H MR EKCBL50M H The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR J3JCBL03M A1 L or MR J3JCBL03M A2 L is required The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model The cables of the lengths with the symbols are available Cable length Cable model 2m 5m 1...

Page 189: ...ote Signal layout View seen from wiring side or 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 Note Signal layout View seen from wiring side MRR LG P5 MR MDR MD MDR MD MR EKCBL M H Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Housing 1 172161 9 Connector pin 170359 1 Tyco Electronic...

Page 190: ... LG 1 2 MR MRR 3 4 3 7 9 SD 1 2 8 9 P5G MR MRR SHD P5E Note Plate MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H Servo amplifier side Encoder side P5 LG 1 2 MR MRR 3 4 MDR 8 5 3 7 4 MD 7 9 SD 1 2 8 9 P5G MR MRR MDR MD SHD P5E 6 CONT Note Plate Note When an encoder cable is fabricated this wire is not required When fabricating the cable use the wiring diagram corresponding to the length indicated below ...

Page 191: ...side connector Housing 1 172161 9 Connector pin 170359 1 Tyco Electronics or equivalent Cable clamp MTI 0002 Toa Electric Industries c MR J3JCBL03M A1 L MR J3JCBL03M A2 L The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR EKCBL M L H is required Cable model Cable length Protective structure Flex life Application MR J3JCBL03M A1 L Fo...

Page 192: ...T Servo amplifier 50m max Encoder connector Servo motor Encoder Encoder connector Pin Signal Encoder cable Optional or fabricated Pin Signal R S T P N MD MDR CONT a Encoder cable of less than 30m When fabricating an encoder cable use the MR ECNS connector set Referring to the following wiring diagram you can fabricate an encoder cable of up to less than 30m MRR MRR P5 LG 1 2 MR 3 4 F S 9 SD C D R ...

Page 193: ...o 20 When fabricating an encoder cable use the MR ECNS connector set Referring to the following wiring diagram you can fabricate an encoder cable of up to 50m MRR P5 LG 1 2 MR 3 4 MDR 8 B F S A MD 7 9 SD C D R N MR ESCBL30M L P5G MR MRR MDR MD SHD P5E M CONT Servo amplifier side Encoder side Plate Note Note When an encoder cable is fabricated this wire is not required www DataSheet4U com ...

Page 194: ...rs 1 Model explanation Long flex life Model MR ESCBL M H Symbol Cable length Communication system 2 5 10 20 30 Two wire type Note Four wire type Note Set 1 in parameter No 20 2 5 10 20 30 40 50 40 50 Model MR ENECBL M H Long flex life Symbol Cable length Communication system 2 5 10 20 30 Two wire type Note Four wire type Note Set 1 in parameter No 20 2 5 10 20 30 40 50 40 50 www DataSheet4U com ...

Page 195: ...icating an encoder cable use the MR ECNS IP20 compatible model or MR ENECNS IP65 IP67 compatible model connector set Referring to the following wiring diagram you can fabricate an encoder cable of up to less than 30m MRR MRR P5 LG 1 2 MR 3 4 F S 9 SD C D R N MR ESCBL20M H MR ENECBL20M H P5G MR MRR SHD P5E P5 LG 1 2 MR 3 4 F S 9 SD C D R N MR ESCBL2M H MR ESCBL5M H MR ESCBL10M H MR ENECBL2M H MR EN...

Page 196: ...ble model or MR ENECNS IP65 IP67 compatible model connector set Referring to the following wiring diagram you can fabricate an encoder cable of up to 50m MRR P5 LG 1 2 MR 3 4 MDR 8 B F S A MD 7 9 SD C D R N MR ESCBL30M H MR ESCBL40M H MR ESCBL50M H MR ENECBL30M H MR ENECBL40M H MR ENECBL50M H P5G MR MRR MDR MD SHD P5E M CONT Servo amplifier side Encoder side Plate Note Note When an encoder cable i...

Page 197: ... RXD LG TXD D SUB9 pins MR CPCATCBL3M Personal computer side Servo amplifier side Mini DIN 6 pins When fabricating the cable refer to the connection diagram in this section Though this connection diagram is not the connection diagram of the QC30R2 it is identical in functions The following must be observed in fabrication 1 Always use a shielded multi core cable and connect the shield with SD secur...

Page 198: ... structure Flex life Application MR PWS1CBL M A1 L 2 5 10 IP65 Standard For HF KE W1 S100 servo motor Load side lead MR PWS1CBL M A2 L 2 5 10 IP65 Standard For HF KE W1 S100 servo motor Opposite to load side lead MR PWS1CBL M A1 H 2 5 10 IP65 Long flex life For HF KE W1 S100 servo motor Load side lead MR PWS1CBL M A2 H 2 5 10 IP65 Long flex life For HF KE W1 S100 servo motor Opposite to load side ...

Page 199: ...Connector JN4FT04SJ1 R Hod socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT160 3 TMH5B Japan Aviation Electronics Industry MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L Connector JN4FT04SJ2 R Hod socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT160 3 TMH5B Japan Aviation Electronics Industry U V W 1 2 3 4 View seen from wiring side Signa...

Page 200: ...ure Flex life Application MR PWS1CBL M A1 L 2 5 10 IP65 Standard For HF KE W1 S100 servo motor Load side lead MR PWS1CBL M A2 L 2 5 10 IP65 Standard For HF KE W1 S100 servo motor Opposite to load side lead MR PWS1CBL M A1 H 2 5 10 IP65 Long flex life For HF KE W1 S100 servo motor Load side lead MR PWS1CBL M A2 H 2 5 10 IP65 Long flex life For HF KE W1 S100 servo motor Opposite to load side lead MR...

Page 201: ... BKS1CBL M A2 H Connector JN4FT02SJ1 R Hod socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT160 3 TMH5B Japan Aviation Electronics Industry MR BKS2CBL03M A1 L MR BKS2CBL03M A2 L Connector JN4FT02SJ2 R Hod socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT160 3 TMH5B Japan Aviation Electronics Industry B1 B2 1 2 View seen from wirin...

Page 202: ...omputer and analog monitor outputs are used at the same time CN3 MO2 MO1 LG LG Servo amplifier Analog monitor RS 232C branch cable MR E3CBL15 P Communication cable QC30R2 Analog monitor output 2 Analog monitor output 1 2 Connection diagram RXD 1 TXD 2 MO1 4 6 RS 232C MO2 6 4 MO1 MO2 SD SD 3 LG SD 3 2 TXD LG 1 RXD SD LG 3 Servo amplifier Analog monitor Plate Plate Plate Plate www DataSheet4U com ...

Page 203: ...indows 95 Windows 98 Windows Me Windows NT Workstation 4 0 Windows 2000 Professional Windows XP Professional and Windows XP Home Edition operates Processor Pentium 133MHz or more Windows 95 Windows 98 Windows NT Workstation 4 0 Windows 2000 Professional Pentium 150MHz or more Windows Me Pentium 300MHz or more Windows XP Professional Windows XP Home Edition Memory 16MB or more Windows 95 24MB or mo...

Page 204: ...sizes The wires used assume that they are 600V vinyl wires and the wiring distance is 30m max If the wiring distance is over 30m choose the wire size in consideration of voltage drop Refer to section 3 11 for connection with the connector CNP1 CNP2 The servo motor side connection method depends on the type and capacity of the servo motor Refer to section 3 8 To enable the built in regenerative bra...

Page 205: ...67 7 3 Note 3 20276 composite 4 pair shielded cable A TYPE MR EKCBL M L MR ESCBL M L 20 30 0 3 12 6 pairs 7 0 18 63 6 1 2 8 2 UL20276AWG 23 6 pair BLACK 2 to 10 0 2 8 4 pairs 40 0 08 105 0 88 7 2 Note 3 A14B2339 4P 20 0 2 12 6 pairs 40 0 08 105 0 88 7 2 Note 3 A14B2343 6P Encoder cable MR EKCBL M H MR ESCBL M H MR ENECBL M H 30 to 50 0 2 14 7 pairs 40 0 08 105 0 88 8 0 Note 3 J14B0238 0 2 7P Commu...

Page 206: ...ase power supply it may be slightly lower than 90 Servo amplifier MR E A QW003 MR E AG QW003 W W1 C RXSY T Z H 5 0 2 D1 Installation screw D 5 0 2 Unit mm FR BAL L1 L2 L3 MC R S T X Y Z Note 1 plase 200 to 230VAC NFB FR BAL L1 L2 L3 MC R S T X Y Z NFB 3 phase 200 to 230VAC Servo amplifier MR E A QW003 MR E AG QW003 Note Connect a 1 phase 200 to 230VAC power supply to L1 L2 and keep L3 open Dimensi...

Page 207: ...orber is required for the electromagnetic brake Use the following surge absorber or equivalent Insulate the wiring as shown in the diagram Maximum rating Permissible circuit voltage Surge immunity Energy immunity Rated power Maximum limit voltage Static capacity reference value Varistor voltage rating range V1mA AC Vma DC V A J W A V pF V 140 180 Note 500 time 5 0 4 25 360 300 220 198 to 242 Note ...

Page 208: ...er at one point refer to section 3 10 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 absorbers on the no...

Page 209: ... transmitted through electric channels Noise radiated from the power supply cable Noise radiated from servo motor cable Noise transmitted through power supply cable Noise sneaking from grounding cable due to leakage current Routes 4 and 5 Route 1 Route 2 Route 3 Route 7 Route 8 Route 6 Instrument Receiver Servo amplifier Servo motor M 2 2 8 1 7 7 7 5 3 4 6 3 Sensor power supply Sensor www DataShee...

Page 210: ...O cables of the servo amplifier 3 Avoid laying the power lines Input cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits 7 When the power supply of peripheral devices is connected to the power supply of the servo amplifier system noises produced by the servo amplifier ma...

Page 211: ... valve or the like Maximum voltage Not less than 4 times the drive voltage of the relay or the like Maximum current Not less than twice the drive current of the relay or the like Diode RA c Cable clamp fitting AERSBAN SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effect can be increased by directly connecting the cable to an earth pl...

Page 212: ...n diagram Note M4 screw 11 3 6 C A 6 22 17 5 35 35 L or less 10 30 7 24 0 0 2 Note Screw hole for grounding Connect it to the earth plate of the control box 24 0 3 0 Unit mm Type A B C Accessory fittings Clamp fitting L AERSBAN DSET 100 86 30 clamp A 2pcs A 70 AERSBAN ESET 70 56 clamp B 1pc B 45 www DataSheet4U com ...

Page 213: ... If the wires are too 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 possible for their best performance Example 2 Two filters are used Total number of turns 4 Power supply Servo amplifier Line noise filter NFB L3 L1 L2 Example 1 Number of turns 4 Power supply NFB L1 L2 L3 Servo ampli...

Page 214: ...acturer catalog Maximum rating Permissible circuit voltage Surge current immunity Energy immunity Rated pulse power Maximum limit voltage Static capacity reference value Varistor voltage rating range V1mA Power supply voltage Varistor AC Vrms DC V 8 20 s A 2ms J W A V pF V 100V class TND20V 431K 275 350 10000 1 time 195 710 1300 430 387 to 473 200V class TND20V 471K 300 385 7000 2 time 215 1 0 100...

Page 215: ...g2 Igm Cable Cable Ig1 Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier Found from Fig 13 1 Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 13 1 Ign Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Iga Leakage current ...

Page 216: ...e current breaker generally available Find the terms of Equation 13 1 from the diagram Ig1 20 1000 5 0 1 mA Ig2 20 1000 5 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in Equation 13 1 Ig 10 0 1 0 0 1 1 0 1 0 1 4 0 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current Ig of 4 0 mA or more A leakage current breaker having Ig o...

Page 217: ... 65 MR E 200A QW003 SF1253 57 1 37 1 65 2 Connection example NFB L1 L2 L3 L1 L2 L3 LINE LOAD EMC filter Servo amplifier Note 1 Power supply Note 2 Note 1 For 1 phase 230VAC power supply connect the power supply to L1 L2 and leave L3 open 2 Connect when the power supply has earth L1 L2 L3 MC 3 Outline drawing 23 0 LABEL LINE LOAD 168 0 L1 L2 L3 L1 L2 L3 149 5 LINE input side LOAD output side 140 0 ...

Page 218: ...ervo motor Unless otherwise specified the handling performance specifications etc of the UL C UL Standard compliant models are the same as those of the standard models Strictly observe the following items to conform to the UL C UL Standard The flange sizes in this table assume that the flanges are made of aluminum The rated torque of the servo motor indicates the continuous permissible torque valu...

Page 219: ...magnetic brake Note 2 Note 2 Special shaft Note 3 Note 3 EN Standard Compliance with overseas standards UL C UL Standard Protection type IP55 Note 4 5 IP65 Note 1 Some power supply voltages may not be usable depending on the servo amplifier capacity For the power supply voltage range refer to section 1 3 2 Compatible products are available For details refer to section 14 6 3 and 14 7 3 3 Compatibl...

Page 220: ... cable Power supply connector Note Note The servo motor with electromagnetic brake has the electromagnetic brake connector separately 2 HF SE JW1 S100 Power supply connector Note Power supply U V W Earth Servo motor shaft Encoder Encoder connector Note The servo motor with electromagnetic brake has the electromagnetic brake connector separately www DataSheet4U com ...

Page 221: ...ctromagnetic brake to release the brake Switching power off makes the brake effective 1 Electromagnetic brake power supply Prepare the following power supply for use with the electromagnetic brake only The electromagnetic brake terminals B1 B2 have no polarity VAR B1 B2 24VDC power supply for electromagnetic brake Switch or B1 B2 Switch VAR 24VDC power supply for electromagnetic brake Electromagne...

Page 222: ...nnot warrant the servo motor against fracture and similar accidents attributable to a loose key use a friction coupling etc when coupling the shaft with a machine The shaft shape of the standard servo motor changes depending on the series and capacity Refer to section 14 6 4 and 14 7 4 Shaft section view Shaft section view Keyway shaft with key Keyway shaft without key Shaft section view Shaft sec...

Page 223: ...d to transport the servo motor when it is mounted on a machine The servo motor with reduction gear must be installed in the specified direction Otherwise it can leak oil leading to a fire or fault Securely fix the servo motor to the machine If fixed insecurely the servo motor will come off during operation leading to injury When coupling the shaft end of the servo motor do not subject the shaft en...

Page 224: ...o motor with electromagnetic brake The servo motor with electromagnetic brake can also be installed in the same orientation as the standard servo motor When the servo motor with electromagnetic brake is installed with the shaft end at top the brake plate may generate sliding sound but it is not a fault 14 3 2 Load remove precautions POINT During assembling the shaft end must not be hammered Doing ...

Page 225: ...se a rigid coupling as it may apply excessive bending load to the shaft leading to shaft breakage For the permissible shaft load specific to the servo motor refer to the chapter of the servo motor series 1 Use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible radial load 2 When using a pulley sprocket or timing belt select a diameter that will fit in...

Page 226: ...vo motor is exposed to oil such as coolant the sealant packing cable and others may be affected depending on the oil type 4 In the environment where the servo motor is exposed to oil mist oil water grease and or like the servo motor of the standard specifications may not be usable Contact us 14 3 5 Cable The power supply cable brake cable and encoder cables connected to the servo motor should be f...

Page 227: ...riodic inspection according to operating conditions c Check the servo motor shaft and coupling for misalignment d Check the power supply connector and encoder connector tightening screws for looseness 14 3 7 Life The following parts must be changed periodically as listed below If any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depe...

Page 228: ... the output shaft and mounting except the optional products Flange size Accuracy mm Measuring position Less than 100 130 176 Runout of flange surface to output shaft a 0 05 0 06 0 08 Runout of fitting OD of flange surface b 0 04 0 04 0 06 Runout of output shaft end c 0 02 0 02 0 03 Reference diagram a b c www DataSheet4U com ...

Page 229: ...der For power supply For brake HF KE B W1 S100 Connector configuration A Connector configuration B Connector configuration C 2 HF SE JW1 S100 Cable side connector Servo motor For encoder For power supply For brake HF SE52 B JW1 S100 to HF SE152 B JW1 S100 Connector configuration F HF SE202 B JW1 S100 Connector configuration D or Connector configuration E Connector configuration H Connector configu...

Page 230: ...co Electronics Configuration product Connector configuration Connector IP55 Crimping tool Servo motor power supply connector B Connector JN4FT04SJ1 R HOOD SOCKET INSULATOR BUSHING GROUND NUT Contact ST TMH S C1B 100 A534G JAE CT160 3 TMH5B JAE JN4AT04NJ1 JAE Configuration product Connector configuration Connector IP55 Crimping tool Servo motor brake connector C Connector JN4FT02SJ1 R HOOD SOCKET I...

Page 231: ... Back shell DDK Cable OD mm Model name Servo motor encoder connector Straight CE02 20BS S D D IP65 IP67 EN standard Angle D MS 3106A20 29S D190 CE 20BA S D 6 8 to 10 CE3057 12A 3 D D MS3102A20 29P 1 Plug 2 Cable clamp Cable 1 Plug 2 Cable clamp Cable 2 Cable clamp DDK Connector configuration Application 1 Plug DDK Cable OD mm Model name Servo motor encoder connector Straight D MS3106B20 29S E Gene...

Page 232: ...MS3057 10A F General environment Note Angle D MS3108B18 10S Applicable wire size AWG14 to 12 14 3 Bushing ID D MS3057 10A D MS3102A18 10P Note Not compliant with the EN Standard Straight plug Plug DDK Connector configuration Application Type Straight plug Socket contact Contact shape Cable OD mm Reference Servo motor brake connector CM10 SP2S S CM10 22SC S2 100 4 0 to 6 0 CM10 SP2S M CM10 22SC S2 ...

Page 233: ... BSS Applicable wire size AWG12 to 8 12 5 to 16 CD3057 12A 1 D 9 5 to 13 CD3057 12A 2 D IP65 IP67 EN Standard compliant Angle CE05 8A22 22SD D BAS Applicable wire size AWG12 to 8 12 5 to 16 CD3057 12A 1 D Straight D MS3106B22 22S Applicable wire size AWG12 to 8 15 9 Bushing ID D MS3057 12A H General environment Note Angle D MS3108B22 22S Applicable wire size AWG12 to 8 15 9 Bushing ID D MS3057 12A...

Page 234: ...l 1 172161 9 170359 1 755330 1 14 23 7 16 4 2 14 4 2 Unit mm 170363 1 loose piece 2 Molex Unit mm Model Number of poles A B 5509 04P 210 4 4 2 9 6 5559 06P 210 6 8 4 13 8 Terminal 5558PBT3L Hand tool 57022 5300 2 1 1 3 4 3 2 1 8 5 4 2 A B 4 2 2 7 Circuit number 5559 11 6 4 6 13 3 4 23 9 11 9 2 3 1 4 5 1 1 2 5 9 6 Pitch Pole count based layout diagram 4 poles 6 poles www DataSheet4U com ...

Page 235: ...B22 22S 1 3 8 18UNEF 18 26 56 57 40 48 1 3 16 18UNEF 9 53 50 W or more L or less J A V Y or less Q Unit mm Model A J L Q R U V W D MS3108B18 10S 1 1 8 18UNEF 18 26 68 27 34 13 20 5 30 2 1 20UNEF 9 53 D MS3108B20 29S 1 1 4 18UNEF 18 26 76 98 37 28 22 5 33 3 1 3 16 18UNEF 9 53 D MS3108B22 22S 1 3 8 18UNEF 18 26 76 98 40 48 24 1 33 3 1 3 16 18UNEF 9 53 W or more L or less J Q A V U R www DataSheet4U ...

Page 236: ... 20UNEF 2A CE05 6A22 22SD D BSS 1 3 8 18UNEF 2B 40 48 38 3 61 1 3 16 18UNEF 2A Unit mm W A D or less R 0 7 U 0 7 Y or more S 1 B 0 0 38 Model name A B D W R U S Y CE05 8A18 10SD D BAS 1 1 8 18UNEF 2B 34 13 69 5 1 20UNEF 2A 13 2 30 2 43 4 7 5 CE05 8A22 22SD D BAS 1 3 8 18UNEF 2B 40 48 75 5 1 3 16 18UNEF 2A 16 3 33 3 49 6 7 5 www DataSheet4U com ...

Page 237: ...0 H 8 or less 8 or less 10 or less 13 or less 13 or less CM10 SP2S S M L Unit mm 2 1 19 51 4 For CM10 SP2S S M L 18 9 o r less Back shell 35 O ring 35 33 3 48 3 15 17 8 10 9 1 1 8 18UNEF 2B 1 1 8 18UNEF 2B 1 3 16 18UNEF 2A 1 3 16 18UNEF 2A 7 85 or more Effective thread length CL CL 31 6 Spanner fitting CE 20BA S 50 5 or less O ring 36 39 6 or less 7 5 or more CE02 20BS S D Unit mm Unit mm www Data...

Page 238: ...read length C A 0 7 1 6 0 063 V Thread B 0 7 G 0 7 E Cable clamp ID H Movable range on one side D Bushing ID F Model name Shell size A B C D E F G H V Bushing Cable range CE3057 10A 1 D 14 1 CE3420 10 1 10 5 to 14 1 CE3057 10A 2 D 18 23 8 30 1 10 3 41 3 15 9 11 0 31 7 3 2 1 20UNEF 2B CE3420 10 2 8 5 to 11 CE3057 12A 1 D 16 0 CE3420 12 1 12 5 to 16 CE3057 12A 2 D 22 23 8 35 10 3 41 3 19 13 0 37 3 4...

Page 239: ...Note 1 K Note 1 D Shaft shape HF KE W1 S100 Note 2 With keyway Standard Straight shaft D cut shaft 13 to 73 23 to 73 13 Note 1 The special shaft applies to the standard servo motor and servo motor with electromagnetic brake 2 With key HF KE 3 W1 S100 MR E super servo motor Encoder resolution 131072 pulse rev Shaft type Special shaft Electromagnetic brake Rated speed 3000 r min Electromagnetic brak...

Page 240: ...rvo motor 1 rotation 131072 pulse rev Accessory Insulation class Class B Structure Totally enclosed self cooled protection type IP55 Note 5 0 to 40 non freezing During operation 32 to 104 non freezing 15 to 70 non freezing Ambient temperature In storage 5 to 158 non freezing During operation 80 RH or less non condensing Ambient humidity In storage 90 RH or less non condensing Ambience Indoors no d...

Page 241: ...rvo motor installation position for measurement and the measuring position Top Bottom Servo motor Measuring position 9 For the symbols in the table refer to the following diagram Do not subject the shaft to load greater than this value The values in the table assume that the loads work singly L Radial load Thrust load L Distance from flange mounting surface to load center 2 Torque characteristics ...

Page 242: ...Braking delay time Note 2 s DC off 0 01 0 02 0 02 Per braking J 5 6 22 64 Permissible braking work Per hour J 56 220 640 Brake looseness at servo motor shaft Note 5 degrees 2 5 1 2 0 9 Number of braking cycles times 20000 20000 20000 Brake life Note 3 Work per braking J 5 6 22 64 Note 1 There is no manual release mechanism When it is necessary to hand turn the servo motor shaft for machine centeri...

Page 243: ...hape Servo motor Keyway shaft with key D cut shaft HF KE13W1 S100 D HF KE23W1 S100 to HF KE73W1 S100 K 1 Keyway shaft with key Variable dimension table Unit mm Variable dimensions Servo motor S R Q W QK QL U T Y HF KE23KW1 S100 HF KE43KW1 S100 14h6 30 27 5 20 3 3 5 M4 Depth 15 HF KE73KW1 S100 19h6 40 37 6 25 5 3 5 6 M5 Depth 20 Q A A QK R T W U S QL Y Section A A 2 D cut shaft Unit mm 25 21 5 20 5...

Page 244: ...7 4 4 9 9 5 11 7 11 7 13 9 20 7 20 5 Caution plate 13 7 21 5 5 7 19 2 10 1 21 5 9 40 5 82 4 Power supply connector Encoder connector Encoder connector Power supply connector 19 2 11 7 11 7 9 5 21 5 BC30561A 2 4 5 mounting hole Use hexagon socket head cap screw Bottom Bottom Top Top Caution plate for high temperature Motor plate Opposite side Bottom Top Motor plate Opposite to load side Bottom Top ...

Page 245: ... screw Bottom Bottom Top Top Motor plate Opposite siede 2 3 4 Pin No 1 U V W Application Earth TUV plate Model Output W Inertia moment J 10 4 kg m2 WK2 oz in2 Mass kg Ib HF KE43W1 S100 400 0 42 2 30 1 5 3 5 Unit mm 2 3 4 Pin No 1 U V W Application Earth 30 60 45 11 8 70 5 9 27 8 13 9 28 4 13 7 10 9 5 9 19 2 11 7 7 3 10 1 7 98 5 61 2 Caution plate Power supply connector Encoder connector 1 2 3 4 Po...

Page 246: ...r connector Encoder connector Motor plate Opposite to load side 4 6 6 mounting hole Use hexagon socket head cap screw Top Bottom Top Bottom Bottom Top Bottom Top Motor plate Opposite side Caution plate for high temperature 113 8 40 3 80 90 45 12 72 3 11 8 9 5 27 4 27 8 14 8 11 5 11 7 13 7 7 7 9 9 19 2 19 2 11 7 21 4 11 8 9 5 Power supply connector 1 2 3 4 BC30557A Power supply connector pin connec...

Page 247: ...hexagon socket head cap screw Bottom Bottom Top Top Bottom Top Motor plate Opposite side Caution plate for high temperature Opposite to load side Caution plate Power supply connector Brake connector pin connection list Encoder connector Power supply connector Power supply connector pin connection list Brake connector Brake connector Bottom 40 45 46 6 4 13 9 27 5 25 2 5 4 9 27 4 9 9 5 11 7 11 7 13 ...

Page 248: ...7 21 5 28 4 27 8 11 7 13 5 3 7 7 9 19 2 10 1 116 1 39 3 Caution plate Power supply connector Brake connector BC30653 1 2 3 4 1 2 18 3 11 8 11 7 9 5 Power supply connector 57 8 Encoder connector 21 5 Brake connector Power supply connector pin connection list Brake connector pin connection list Encoder connector Bottom Top Bottom Top Motor plate Caution plate for high temperature Motor plate Opposit...

Page 249: ...er connector Brake connector 57 8 11 8 11 7 21 5 18 3 9 5 Opposite to load side B1 2 Pin No 1 B2 Application Caution plate Power supply connector Brake connector Power supply connector Power supply connector pin connection list Brake connector pin connection list Encoder connector Bottom Top Bottom Top Motor plate Caution plate for high temperature Motor plate Opposite side Bottom Top Bottom Top 4...

Page 250: ...ctor Power supply connector Encoder connector Brake connector pin connection list 1 3 4 2 1 2 Encoder connector 9 5 11 8 21 4 11 7 65 5 18 4 Power supply connector Brake connector BC30655 Motor plate Bottom Caution plate Top Bottom Top Motor plate Opposite side Top Bottom Top Bottom Opposite to load side 4 6 6 mounting hole Use hexagon socket head cap screw Caution plate for high temperature Power...

Page 251: ...ake up HF SE 2 Series name Symbol None Note 1 K Shaft shape Note 2 With keyway Standard Straight shaft Note 1 The special shaft applies to the standard servo motor and servo motor with electromagnetic brake 2 Without key W1 S100 MR E super servo motor Encoder resolution 131072 pulse rev Shaft type Special shaft Electromagnetic brake Rated speed 2000 r min Electromagnetic brake Without With Rated o...

Page 252: ...2 2 Rated current A 2 9 5 3 8 0 10 Maximum current A 8 7 15 9 24 30 Speed position detector Incremental encoder resolution 131072pulse rev Accessory Oil seal Insulation class Class F Structure Totally enclosed self cooled protection type IP65 Note 4 0 to 40 non freezing During operation 32 to 104 non freezing 15 to 70 non freezing Ambient temperature In storage 5 to 158 non freezing During operati...

Page 253: ... for measurement and the measuring position Servo motor Measuring position Top Bottom 7 For the symbols in the table refer to the following diagram Do not subject the shaft to load greater than this value The values in the table assume that the loads work singly L Radial load Thrust load L Distance from flange mounting surface to load center 2 Torque characteristics HF SE52JW1 S100 0 Torque N m 10...

Page 254: ...delay time Note 2 s DC off 0 03 0 03 Per braking J 400 4500 Permissible braking work Per hour J 4000 45000 Brake looseness at servo motor shaft Note 5 degrees 0 2 to 0 6 0 2 to 0 6 Number of braking cycles times 20000 20000 Brake life Note 3 Work per braking J 200 1000 Note 1 There is no manual release mechanism When it is necessary to hand turn the servo motor shaft for machine centering etc use ...

Page 255: ...haft shape Servo motor Keyway shaft without key HF SE52JW1 S100 to HF SE202JW1 S100 K Variable dimension table Unit mm Variable dimensions Servo motor S R Q W QK QL U r Y HF SE52KJW1 S100 to HF SE152KJW1 S100 24h6 55 50 8 0 0 036 36 5 4 0 2 0 4 M8 Depth 20 HC SE202KJW1 S100 35 0 010 0 79 75 10 0 0 036 55 5 5 0 2 0 5 M8 Depth 20 QL A A QK Q R W S U r Y Section A A Keyway shaft without key www DataS...

Page 256: ...20 Caution plate Bottom Top Motor flange direction Top Bottom Caution plate 20 9 Bottom Top Top Bottom 19 5 Encoder connector MS3102A20 29P Oil seal 12 Logo plate Top Bottom Model Output kW Inertia moment J 10 4 kg m 2 WK 2 oz in 2 Mass kg Ib HF SE102JW1 S100 1 0 11 9 65 1 6 5 15 4 Unit mm BC30566A 1 4 5 Motor plate Opposite side 4 9 mounting hole Use hexagon socket head cap screw Power supply con...

Page 257: ...tom Encoder connector MS3102A20 29P Logo plate Top Bottom Motor plate Opposite side Oil seal Model Output kW Inertia moment J 10 4 kg m 2 WK 2 oz in 2 Mass kg Ib HF SE202JW1 S100 2 0 38 3 209 4 12 27 6 Unit mm 200 230 Oil seal Caution plate Power supply connector layout Motor plate Opposite side Motor flange direction TUV plate Logo plate Motor plate Caution plate Caution plate 145 79 75 3 18 40 8...

Page 258: ... BC30648 Caution plate Top Top Bottom Bottom Bottom Top Top Bottom 1 4 5 Motor plate Bottom Top Logo plate Oil seal Model Output W Static friction torque N m oz in Inertia moment J 10 4 kg m 2 WK 2 oz in 2 Mass kg Ib HF SE102BJW1 S100 1 0 8 5 1203 7 14 0 76 5 8 5 19 8 Unit mm BC30649 Oil seal Logo plate 4 9 mounting hole Use hexagon socket head cap screw 130 165 1 4 5 13 5 58 12 3 176 5 45 55 50 U...

Page 259: ...ap screw 1 4 5 165 45 Bottom Top Top Bottom Top Bottom Bottom Bottom Top Top Bottom Top 101 8 20 9 Oil seal Model Output W Static friction torque N m oz in Inertia moment J 10 4 kg m2 WK2 oz in2 Mass kg Ib HF SE202BJW1 S100 2 0 44 6230 9 47 9 261 9 18 40 8 Unit mm 82 44 Bottom Top Motor plate Logo plate Encoder connector MS3102A20 29P Brake connector CM10 R2P Brake connector layout Brake W C B V U...

Page 260: ...rnal analog speed command 0 to 10VDC or parameter driven internal speed command max 7 speeds is used to control the speed and direction of a servo motor smoothly There are also the acceleration deceleration time constant setting in response to speed command the servo lock function at a stop time and automatic offset adjustment function in response to external analog speed command 2 Torque control ...

Page 261: ...urrent control Model speed Model torque Virtual motor Virtual encoder CN2 U V W U V W M Note 1 Note 4 Cooling fan RS 232C D A Note 3 Note 3 Note 3 A D Analog 2 channels Note 3 D I O control Servo On Start Failure etc Diode stack 24VDC Note 1 The built in regenerative resistor is not provided for the MR E 10AG QW003 MR E 20AG QW003 2 Single phase 230VAC power supply can be used for MR E 70AG QW003 ...

Page 262: ...e error protection Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command input 0 to 10VDC rated speed Speed fluctuation ratio 0 01 or less load fluctuation 0 to 100 0 power fluctuation 10 0 2 or less ambient temperature 25 10 77 50 when using analog speed command Speed control mode Torque limit Set by parameter setting or external analog input 0 to 10VD...

Page 263: ...pplication Display The 5 digit seven segment LED shows the servo status and alarm number Operation section Used to perform status display diagnostic alarm and parameter setting operations Communication connector CN3 Used to connect a command device RS 232C and output analog monitor data Chapter 6 Chapter 6 Section 3 3 Section 13 1 2 Chapter 14 Section 3 3 I O signal connector CN1 Used to connect d...

Page 264: ... CN1 Used to connect digital I O signals Rating plate Encoder connector CN2 Connector for connection of the servo motor encoder Power supply regenerative connector CNP1 Used to connect the input power supply and regenerative option Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Protective earth PE terminal Ground terminal Servo motor...

Page 265: ...o CN2 To CNP2 Note Power supply Options and auxiliary equipment Circuit breaker Magnetic contactor MR Configurator Servo configuration software Reference Section 13 2 2 Section 13 2 2 Section 13 1 4 Options and auxiliary equipment Regenerative option Cables Power factor improving reactor Reference Section 13 1 1 Section 13 2 1 Section 13 2 3 Circuit breaker NFB or fuse Power factor improving react...

Page 266: ...B or fuse Magnetic contactor MC To CN2 To CN1 To CN3 Servo amplifier Regenerative option Personal computer To CNP2 Options and auxiliary equipment Circuit breaker Magnetic contactor Reference Section 13 2 2 Section 13 2 2 Section 13 1 4 Options and auxiliary equipment Regenerative option Cables Power factor improving reactor Reference Section 13 1 1 Section 13 2 1 Section 13 2 3 MR Configurator Se...

Page 267: ...ote 4 Reverse rotation stroke end CN1 Note 7 A A 2m or less Note 6 Monitor output Max 1mA Reading in both directions Plate 20 19 18 LZ 15 11 10 SA RA3 RA4 13 SG Plate MO1 4 LG 3 MO2 6 SD RD 16 17 21 14 Ready Speed reached Zero speed Trouble Note 5 2m or less VC 26 LG 14 TLA 2 SD Analog speed command 10V rated speed Analog torque limit 10V max torque CN1 Note 7 Note 9 External power supply 24VDC En...

Page 268: ...EMG and forward rotation stroke end LSP reverse rotation stroke end LSN with VIN Normally closed contacts 5 Trouble ALM is connected with VIN in normal alarm free condition 6 When connecting the personal computer together with monitor outputs 1 2 use the branch cable MR E3CBL15 P Refer to section 13 1 3 7 The pins with the same signal name are connected in the servo amplifier 8 Use MRZJW3 SETUP 15...

Page 269: ...P SD A A Note 1 To prevent an electric shock always connect the protective earth PE terminal terminal marked of the servo amplifier to the protective earth PE of the control box 2 Connect the diode in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop and other protective circuits 3 The emergency stop switc...

Page 270: ...rox 4 7k External power supply 24VDC CN1 CN1 Case CN1 CN3 Case Note Servo amplifier Note Note T RD RD 11 ST2 ST1 EMG LSP LSN SG EMG SG RS2 SD SD S 13 SON SON 4 3 8 6 7 RS1 5 S T SA 10 ALM ALM 9 ZSP ZSP 12 15 16 18 17 20 21 19 LA LAR LBR LB LZR OP LZ 4 MO1 6 2 MO2 TXD 1 RXD 3 LG LG 14 VIN VIN 1 SD S T VC VLA TLA TC LG LG 26 2 14 Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7k PE Note S ...

Page 271: ...The connector frames are connected with the earth PE terminal inside the servo amplifier 5 3 LG 1 RXD 6 MO2 4 MO1 2 TXD 2 TLA 1 VIN 15 LA 14 LG 16 LAR 17 LB 3 ST1 4 SON 6 LSP 5 ST2 19 LZ 18 LBR 20 LZR 21 OP 7 LSN 8 EMG 10 SA 9 ALM 23 22 24 25 11 RD 12 ZSP 26 13 SG 2 TC 1 VIN 15 LA 14 LG 16 LAR 17 LB 3 RS2 4 SON 6 5 RS1 19 LZ 18 LBR 20 LZR 21 OP 7 8 EMG 10 9 ALM 23 22 24 25 11 RD 12 ZSP 26 13 SG CN...

Page 272: ...ed parameter 1 VIN VIN VIN 2 I TLA TLA TC TC 3 I ST1 ST1 RS2 RS2 No 43 to 48 4 I SON SON SON No 43 to 48 5 I ST2 LOP RS1 No 43 to 48 6 I LSP LSP No 43 48 7 I LSN LSN No 43 48 8 I EMG EMG EMG 9 O ALM ALM ALM No 49 10 O SA SA No 49 11 O RD RD RD No 49 12 O ZSP ZSP ZSP No 1 49 13 SG SG SG 14 LG LG LG 15 O LA LA LA 16 O LAR LAR LAR 17 O LB LB LB 18 O LBR LBR LBR 19 O LZ LZ LZ 20 O LZR LZR LZR 21 O OP ...

Page 273: ...nd or LSN VIN Open them to bring the motor to a sudden stop and make it servo locked Set 1 in parameter No 22 to make a slow stop Refer to section 5 2 3 DI 1 Note Input signals Operation LSP LSN CCW direction CW direction 1 1 0 1 LSN CN1 7 1 0 Reverse rotation stroke end 0 0 Note 0 LSP LSN VIN off open 1 SP LSN VIN on short Set parameter No 41 as indicated below to switch on the signals keep termi...

Page 274: ... If both ST1 and ST2 are switched on or off during operation the servo motor will be decelerated to a stop according to the parameter No 12 setting and servo locked RS1 CN1 5 Used to select any of the following servo motor torque generation directions DI 1 Forward rotation selection Note Input signals ST2 ST1 Torque generation direction 0 0 Torque is not generated RS2 CN1 3 0 1 Forward rotation in...

Page 275: ...n short Speed control mode Used to select the command speed for operation When using SP1 to SP3 make it usable by making the setting of parameter No 43 to 48 Note Input signals SP3 SP2 SP1 Speed limit 0 0 0 Analog speed limit VLA 0 0 1 Internal speed limit 1 parameter No 8 0 1 0 Internal speed limit 2 parameter No 9 0 1 1 Internal speed limit 3 parameter No 10 1 0 0 Internal speed limit 4 paramete...

Page 276: ...torque is generated at 10V Refer to section 15 2 5 1 a Resolution 10bit Analog input Analog torque command TC Used to control torque in the full servo motor output torque range Apply 0 to 8VDC across TC LG Maximum torque is generated at 8V Refer to section 15 2 5 2 a The torque at 8V input can be changed using parameter No 26 Analog input Analog speed command VC CN1 26 Apply 0 to 10VDC across VC L...

Page 277: ... speed limit VLA in the torque control mode VLC turns off when servo on SON turns off DO 1 Limiting torque TLC TLC turns on when the torque generated reaches the value set to the internal torque limit 1 parameter No 28 or analog torque limit TLA TLC turns off when servo on SON turns off DO 1 Trouble ALM CN1 9 Same as MR E A QW003 Refer to section 3 3 2 2 DO 1 Ready RD CN1 11 DO 1 Zero speed ZSP CN...

Page 278: ...de Signal Symbol Connector pin No Functions Applications I O division S T Digital I F power supply input VIN CN1 1 Same as MR E A QW003 Refer to section 3 3 2 4 Open collector power input OPC CN1 2 Digital I F common SG CN1 13 Control common LG CN1 14 Shield SD Plate www DataSheet4U com ...

Page 279: ...CCW Reverse rotation CW The following table indicates the rotation direction according to forward rotation start ST1 and reverse rotation start ST2 combination Note 1 External input signals Note 2 Rotation direction Analog speed command VC ST2 ST1 Polarity 0V Polarity Internal speed commands 0 0 Stop Servo lock Stop Servo lock Stop Servo lock Stop Servo lock 0 1 CCW CW CCW 1 0 CW Stop No servo loc...

Page 280: ...No 10 1 0 0 Internal speed command 4 parameter No 72 1 0 1 Internal speed command 5 parameter No 73 1 1 0 Internal speed command 6 parameter No 74 1 1 1 Internal speed command 7 parameter No 75 Note 0 SP1 SP2 SP3 VIN off open 1 SP1 SP2 SP3 VIN on short The speed may be changed during rotation In this case the values set in parameters No 11 and 12 are used for acceleration deceleration When the spe...

Page 281: ...V torque may vary as it may not be limited sufficiently Therefore use this function at the voltage of 0 05V or more 0 to 10V 5 10 0 100 TLA application voltage V 0 Torque limit value 0 05 TLA application voltage vs torque limit value Servo amplifier TL VIN TLA LG SD 2 Torque limit value selection Use parameters No 43 through 48 to enable external torque limit TL and internal torque limit TL1 Torqu...

Page 282: ... limit value In such a case increase the speed limit value The following table indicates the torque generation directions determined by the forward rotation selection RS1 and reverse rotation selection RS2 when the analog torque command TC is used Note External input signals Rotation direction Torque control command TC RS2 RS1 Polarity 0V Polarity 0 0 Torque is not generated Torque is not generate...

Page 283: ...meters No 8 to 10 72 to 75 internal speed limits 1 to 7 or the value set in the applied voltage of the analog speed limit VLA A relationship between the analog speed limit VLA applied voltage and the servo motor speed is shown below When the servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100r min greater than the desired speed limit ...

Page 284: ...gnals SP3 SP2 SP1 Speed limit value 0 0 0 Analog speed limit VLA 0 0 1 Internal speed limit 1 parameter No 8 0 1 0 Internal speed limit 2 parameter No 9 0 1 1 Internal speed limit 3 parameter No 10 1 0 0 Internal speed limit 4 parameter No 72 1 0 1 Internal speed limit 5 parameter No 73 1 1 0 Internal speed limit 6 parameter No 74 1 1 1 Internal speed limit 7 parameter No 75 Note 0 off 1 on When t...

Page 285: ...e may be changed at any time A change timing chart is shown below 10V 0 ON OFF Torque control mode Servo motor speed Control change LOP Note Speed control mode Speed control mode Analog torque command TC Load torque Forward rotation in driving mode Note When the start ST1 ST2 is switched off as soon as the mode is changed to speed control the servo motor comes to a stop according to the decelerati...

Page 286: ...d you may get burnt or a parts may damaged During operation never touch the rotating parts of the servo motor Doing so can cause injury Perform pre operation checks while referring to section 4 1 Connect the servo motor with a machine after confirming that the servo motor operates properly alone Use parameter No 0 to choose the control mode used After setting this parameter is made valid by switch...

Page 287: ...P1 and speed selection 2 SP2 choose the servo motor speed Turn on forward rotation start ST1 to run the motor in the forward rotation CCW direction or reverse rotation start ST2 to run it in the reverse rotation CW direction At first set a speed as low as possible and check the rotation direction etc If it does not run in the intended direction check the input signal On the status display check th...

Page 288: ... occurs d Forward rotation stroke end LSP reverse rotation stroke end LSN OFF The servo motor is brought to a sudden stop and servo locked The motor may be run in the opposite direction e Simultaneous ON or simultaneous OFF of forward rotation start ST1 and reverse rotation start ST2 The servo motor is decelerated to a stop POINT A sudden stop indicates deceleration to a stop at the deceleration t...

Page 289: ... 1000 Set 1000ms Acceleration time constant 12 500 Set 500ms Deceleration time constant 13 0 Not used S pattern acceleration deceleration time constant 14 2000 28 50 Set 2000r min Internal torque limit 1 Torque command time constant Turn the power off after setting parameters No 0 and 1 Then switch power on again to make the set parameter values valid 4 Servo on Switch the servo on in the followin...

Page 290: ...ce When an alarm occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop Alarm AL E6 servo emergency stop warning occurs d Simultaneous ON or simultaneous OFF of forward rotation selection RS1 and reverse rotation ...

Page 291: ... selection 1 S T 0002 2 ATU Auto tuning S 0105 3 For manufacturer setting 1 4 1 5 100 6 PG1 Position loop gain 1 S 35 rad s 7 For manufacture setting 3 Internal speed command 1 S 100 r min 8 SC1 Internal speed limit 1 T 100 r min Internal speed command 2 S 500 r min 9 SC2 Internal speed limit 2 T 500 r min Internal speed command 3 S 1000 r min 10 SC3 Internal speed limit 3 T 1000 r min 11 STA Acce...

Page 292: ...nsation S 48 ms 39 VDC Speed differential compensation S 980 40 For manufacturer setting 0 41 DIA Input signal automatic ON selection S T 0000 42 DI1 Input signal selection 1 S T 0002 43 DI2 Input signal selection 2 CN1 4 S T 0111 44 DI3 Input signal selection 3 CN1 3 S T 0882 45 DI4 Input signal selection 4 CN1 5 S T 0995 46 DI5 Input signal selection 5 CN1 6 S T 0000 47 DI6 Input signal selectio...

Page 293: ...l speed limit 4 T 200 r min Internal speed command 5 S 73 SC5 Internal speed limit 5 T 300 r min Internal speed command 6 S 74 SC6 Internal speed limit 6 T 500 r min Internal speed command 7 S 75 SC7 Internal speed limit 7 T 800 r min 76 TL2 Internal torque limit 2 S T 100 77 100 78 10000 79 10 80 10 81 100 82 100 83 100 Expansion parameters 2 84 For manufacturer setting 0000 Note 1 Depends on the...

Page 294: ...4 MR RB32 5 MR RB30 6 MR RB50 Cooling fan is required Motor capacity selection 0 100W 1 200W 2 400W 3 500W 4 750W 5 1kW 6 1 5kW 7 2kW POINT Wrong setting may cause the regenerative option to burn If the regenerative option selected is not for use with the servo amplifier parameter error AL 37 occurs 0 STY 100W 0000 200W 1000 400W 2000 700W 4000 1kW 5010 2kW 6010 Refer to name and function column S...

Page 295: ...z E 240Hz F 300Hz Set value Gain adjustment mode 0 Description 1 3 Simple manual adjustment 4 Manual adjustment of all gains Interpolation mode Fixes position control gain 1 parameter No 6 Auto tuning mode 1 Fixes the load inertia moment ratio set in parameter No 34 Response level setting can be changed Manual mode 1 Manual mode 2 2 Auto tuning mode 2 Ordinary auto tuning 0 0 0105 Refer to name an...

Page 296: ... motor of 3000r min rated speed set 3000 3s to increase speed from 0r min to 1000r min in 1 second 0 12 STB Deceleration time constant Used to set the deceleration time required to reach 0r min from the rated speed in response to the analog speed command and internal speed commands 1 to 7 0 ms 0 to 20000 S T Basic parameters 13 STC S pattern acceleration deceleration time constant Used to smooth s...

Page 297: ... more stations normal communication cannot be made 0 station 0 to 31 S T Basic parameters 16 BPS Serial communication function selection alarm history clear Used to select the serial communication baud rate select various communication conditions and clear the alarm history Serial baud rate selection 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps Alarm history clear 0 Invalid not cleared 1 Valid c...

Page 298: ...ers 18 DMD Status display selection Used to select the status display shown at power on Status display at power on in corresponding control mode 0 Depends on the control mode 0 0 Selection of status display at power on 0 Cumulative feedback pulses 1 Servo motor speed 2 Cannot be used 3 Cannot be used 4 Cannot be used 7 Regenerative load ratio 8 Effective load ratio 9 Peak load ratio A Instantaneou...

Page 299: ...rameters marked Set value Operation Basic parameters No 0 to No 19 Expansion parameters 1 No 20 to No 49 Expansion parameters 2 No 50 to No 84 Reference 0000 Initial value Write Reference No 19 only 000A Write No 19 only Reference 000B Write Reference 000C Write Reference 000E Write Reference 100B Write No 19 only Reference 100C Write No 19 only Reference 100E Write No 19 only Basic parameters 19 ...

Page 300: ...t vibration suppression control Made valid when auto tuning selection is set to 0400 in parameter No 2 Used to suppress vibration at a stop 0 Invalid 1 Valid Encoder cable communication system selection Incorrect setting will result in an encoder alarm 1 AL 16 or encoder alarm 2 AL 20 0 Two wire type 1 Four wire type 0 Invalid Undervoltage alarm AL 10 occurs 1 Valid If the power supply voltage has...

Page 301: ...tput CN1 11 CN1 9 3 CN1 10 TLC VLC output selection Select the connector pin at which Torque Limit TLC or Speed Limit VLC is output 4 CN1 12 0000 Refer to name and function column S T 23 For manufacturer setting Do not change this value by any means 0 24 ZSP Zero speed Used to set the output range of the zero speed ZSP 50 r min 0 to 10000 S T 25 VCM 0 0 S Analog speed command maximum speed Used to...

Page 302: ... torque limit 1 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced Note TL Torque limit 0 Internal torque limit 1 Parameter No 28 1 Analog torque limit internal torque limit 1 Analog torque limit Analog torque limit internal torque limit 1 Internal torque limit 1 28 TL1 Note 0 off 1 on When torque is output in analog...

Page 303: ...nse level but is liable to generate vibration and or noise When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used To use this parameter set 1 to parameter No 20 to validate servo lock at stop 35 rad s 1 to 1000 S 36 VG1 Speed loop gain 1 Normally this parameter setting need not be changed Higher setting increases the response level but is liabl...

Page 304: ...ervo amplifier No need of external wiring Reverse rotation stroke end LSN input selection Forward rotation stroke end LSP input selection 0 0000 Refer to name and function column S S T Expansion parameters 1 42 DI1 Input signal selection 1 Used to assign the control mode changing signal input pins and to set the clear CR Control change LOP input pin assignment Used to set the control mode change s...

Page 305: ... may be assigned in each control mode are indicated below by their symbols Setting of any other signal will be invalid Set value Note Control mode S T 0 1 2 3 4 5 6 7 8 9 SON SON RES RES PC PC SP1 SP2 RS2 RS1 CR CR A SP3 B C D TL1 E CDP TL1 CDP F TL TL SP1 SP2 ST1 ST2 SP3 Note P Position control mode S Internal speed control mode This parameter is unavailable when parameter No 42 is set to assign ...

Page 306: ...nals and setting method are the same as in input signal selection 2 parameter No 43 Speed control mode Input signals of CN1 pin 5 selected Torque control mode 0 5 This parameter is unavailable when parameter No 42 is set to assign the control change LOP to CN1 pin 5 If forward stroke end LSP or reverse rotation stroke end LSN is assigned to pin 5 of CN1 with parameter No 48 this parameter cannot b...

Page 307: ... Expansion parameters 1 48 LSPN LSP LSN input terminal selection Select the pins where the forward rotation stroke end LSP and reverse rotation stroke end LSN will be assigned If the signals have already been assigned using parameter No 42 to 47 this parameter setting has preference However if forward rotation stroke end LSP is assigned to pin 6 of CN1 default setting the setting of parameter No 4...

Page 308: ... error Serial communication error Regenerative error Main circuit device overheat Overload 1 Overload 2 Main circuit Overcurrent Overspeed Encoder error 1 Encoder error 2 Alarm display Note Alarm code CN1 pin 10 0 0 0 0 1 CN1 pin 11 0 0 1 1 0 1 CN1 pin 12 1 1 0 1 0 1 0 Set value Connector pin No Setting of warning WNG output Select the connector pin to output warning The old signal before selectio...

Page 309: ... With station numbers 1 No station numbers 0000 Refer to name and function column S T 54 OP9 Function selection 9 Use to select the command pulse rotation direction encoder output pulse direction and encoder pulse output setting 0 Encoder pulse output phase changing Changes the phases of A B phase encoder pulses output Encoder output pulse setting selection refer to parameter No 27 0 Output pulse ...

Page 310: ...E 0F 562 5 500 450 409 1 375 346 2 321 4 300 Frequency 10 11 12 13 14 15 16 17 281 3 264 7 250 236 8 225 214 3 204 5 195 7 Frequency 18 19 1A 1B 1C 1D 1E 1F 187 5 180 173 1 166 7 160 1 155 2 150 145 2 Frequency Notch depth selection Setting value Depth Gain Deep Shallow to Setting value Setting value Setting value 0000 Refer to name and function column S T Expansion parameters 2 59 NH2 Machine res...

Page 311: ...ion 2 Held The characteristics of the filter generated so far are held and detection of machine resonance is stopped Adaptive vibration suppression control sensitivity selection Used to set the sensitivity of machine resonance detection 0 Normal 1 Large sensitivity Hz 0000 Refer to name and function column S T 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 Used to set the rat...

Page 312: ...nt Used to set the time constant at which the gains will change in response to the conditions set in parameters No 65 and 66 Refer to section 8 5 1 ms 0 to 100 S 68 For manufacturer setting 0 69 Do not change this value by any means 1 70 1 71 1 Internal speed command 4 Used to set speed 4 of internal speed commands S 72 SC4 Internal speed limit 4 Used to set speed 4 of internal speed limits 200 r ...

Page 313: ...meter to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced When torque is output in analog monitor output this set value is the maximum output voltage 8V 100 0 to 100 S T 77 100 78 10000 79 10 80 10 81 100 82 100 83 100 Expansion parameters 2 84 For manufacturer setting Do not change this value by any means 0000 www DataSheet4U com ...

Page 314: ...tia moment ratio Multiplier 1 Sequence External I O signal display Output DO signal forced output Test operation mode Jog feed Test operation mode Motor less operation Software version low Software version high Automatic VC offset Current alarm Last alarm Second alarm in past Third alarm in past Fourth alarm in past Fifth alarm in past Sixth alarm in past Parameter error No Parameter No 0 Paramete...

Page 315: ...of regenerative power to permissible regenerative power is displayed in 0 to 100 Effective load ratio J The continuous effective load torque is displayed The effective value in the past is seconds is displayed relative to the rated torque of 100 0 to 300 Peak load ratio b The maximum torque generated during acceleration deceleration etc The highest value in the past 15 seconds is displayed relativ...

Page 316: ...ier display shown at power on can be changed by changing the parameter No 18 settings The item displayed in the initial status changes with the control mode as follows Control mode Status display at power on Speed Servo motor speed Speed torque Servo motor speed analog torque command voltage Torque Analog torque command voltage www DataSheet4U com ...

Page 317: ... connection of the servo motor the servo amplifier provides output signals and displays the status as if the servo motor is running actually in response to the external input signal For details refer to section 6 8 4 Test operation mode Machine analyzer operation Merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured The MR Configurator servo confi...

Page 318: ...s ID Press the SET button to show the motor series ID of the servo motor currently connected Motor type ID Press the SET button to show the motor type ID of the servo motor currently connected Encoder ID Press the SET button to show the encoder ID of the servo motor currently connected www DataSheet4U com ...

Page 319: ...ut signals CN1 8 Always lit The 7 segment LED shown above indicates ON OFF Each segment at top indicates the input signal and each segment at bottom indicates the output signal The signals corresponding to the pins in the respective control modes are indicated below Note 2 Signal abbreviation CN1 Pin No Input Output Note 1 I O S T Related parameter No 3 I ST1 RS2 43 to 47 4 I SON SON 43 to 47 5 I ...

Page 320: ...eed ALM CN 1 9 Trouble OP CN 1 21 Encoder Z phase pulse EMG CN 1 8 Emergency stop SA CN 1 10 Limiting speed ST1 CN 1 3 Forward rotation start ST2 CN 1 5 Reverse rotation start b Torque control mode Lit ON Extinguished OFF Input signals Output signals RS1 CN 1 5 Forward rotation selection RS2 CN 1 3 Reverse rotation selection SON CN 1 4 Servo on CN 1 7 CN 1 6 RD CN 1 11 Ready CN 1 10 ZSP CN 1 12 Ze...

Page 321: ...t supplied to COM Section 6 6 Call the status display and check the input voltage of the analog speed command VC Analog speed command is 0V Section 6 2 Call the external I O signal display and check the ON OFF status of the input signal LSP LSN ST1 or ST2 is off Section 6 6 Check the internal speed commands 1 to 7 parameters No 8 to 10 72 to 75 Set value is 0 Check the internal torque limit 1 para...

Page 322: ...rvo on SON Servo motor shaft is free Call the external I O signal display and check the ON OFF status of the input signal 1 Servo on SON is not input Wiring mistake 2 24VDC power is not supplied to COM Section 6 6 Call the status display and check the analog torque command TC Analog torque command is 0V Section 6 2 Call the external I O signal display and check the ON OFF status of the input signa...

Page 323: ...activation Display CN1 10 pin CN1 11 pin CN1 12 pin Name Power OFF ON Press SET on current alarm screen Alarm reset RES signal AL 10 0 1 0 Undervoltage AL 12 0 0 0 Memory error 1 AL 13 0 0 0 Clock error AL 15 0 0 0 Memory error 2 AL 16 1 0 1 Encoder error 1 AL 17 0 0 0 Board error AL 19 0 0 0 Memory error 3 AL 1A 1 0 1 Motor combination error AL 20 1 1 0 Encoder error 2 AL 24 0 0 1 Main circuit er...

Page 324: ... D190 Plug CE3057 12A 3 D Cable clump CE02 20BS S D Back shell MR ECNS Encoder cable DDK MS3106B20 29S Plug MS3057 12A Cable clump Encoder cable DDK D MS3106B20 29S Plug D MS3057 12A Cable clump MR ENECNS Encoder cable DDK MS3106A20 29S D190 Plug CE3057 12A 3 D265 Cable clump CE02 20BS S Back shell Encoder cable DDK D MS3106A20 29S D190 Plug CE3057 12A 3 D Cable clump CE02 20BS S D Back shell MR P...

Page 325: ...REVISIONS The manual number is given on the bottom left of the back cover Print data Manual number Revision May 2008 SH NA 030075 A First edition SH NA 030075 A www DataSheet4U com ...

Page 326: ... Instruction Manual uses recycled paper MODEL MODEL CODE MR E A QW003 MR E AG QW003 Instruction Manual General Purpose AC Servo EZMOTION MR E Super General Purpose Interface MODEL MR E A QW003 INSTRUCTION MANUAL MR E AG QW003 HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 www DataSheet4U com ...

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