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Mitsubishi Electric GENERAL PURPOSE AC SERVO MR-E- A/AG, Instruction Manual

The Mitsubishi Electric GENERAL PURPOSE AC SERVO MR-E-A/AG product is a high-quality servo system that is utilized in various applications. To get started with this product, users can easily access the comprehensive Instruction Manual available for free download from manualshive.com. This manual offers detailed guidance and explanations for optimal operation.

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14 -  14

14. SERVO MOTOR

3) For connection of brake

1) Plug

Cable

1) Plug

Cable

2) Connector for cable

2) Connector for cable

2) Connector for Cable

Servo Motor

Connector

Supplied for Servo

Motor

1) Plug

(DDK)

Type

Maker

Cable

OD

Model

4 to 8

ACS-08RL-MS10F

Straight

Nippon

flex

8 to 12

ACS-12RL-MS10F

Angle

Daiwa

Dengyo

5 to 8.3

YSO10-5 to 8

4 to 8

ACA-08RL-MS10F

Straight

Nippon

flex

8 to 12

ACA-12RL-MS10F

HC-SFE202B

MS3102A10SL-4P

MS3106A10SL-4S

Angle

Daiwa

Dengyo

5 to 8.3

YLO10-5 to 8

(b) When using flexible conduits

1) For connection of power supply

1) Plug

Conduit

1) Plug

2) Connector for 
    conduit

Conduit

2) Connector for conduit

2) Connector for conduit

Conduit

Servo Motor

Connector

Supplied for

Servo Motor

1) Plug

(DDK)

Type

Maker

Size

Model

Model

ID

1/2

RCC-104RL-MS22F

VF-04

14.0

3/4

RCC-106RL-MS22F

VF-06

19.0

Nippon

flex

1

RCC-108RL-MS22F

VF-08

24.4

16

MSA-16-22

FCV16

15.8

22

MSA-22-22

FCV22

20.8

Straight

Daiwa

Dengyo

28

MSA-28-22

FCV28

26.4

1/2

RCC-304RL-MS22F

VF-04

14.0

3/4

RCC-306RL-MS22F

VF-06

19.0

Nippon

flex

1

RCC-308RL-MS22F

VF-08

24.4

16

MAA-16-22

FCV16

15.8

22

MAA-22-22

FCV22

20.8

HC-SFE52(B) to 152(B)

CE05-2A22-

23PD-B

MS3106A22-

23S(D190)

Angle

Daiwa

Dengyo

28

MAA-28-22

FCV28

26.4

1/2

RCC-104RL-MS24F

VF-04

14.0

3/4

RCC-106RL-MS24F

VF-06

19.0

Nippon

flex

1

RCC-108RL-MS24F

VF-08

24.4

16

MSA-16-24

FCV16

15.8

22

MSA-22-24

FCV22

20.8

Straight

Daiwa

Dengyo

28

MSA-28-24

FCV28

26.4

1/2

RCC-304RL-MS24F

VF-04

14.0

3/4

RCC-306RL-MS24F

VF-06

19.0

Nippon

flex

1

RCC-308RL-MS24F

VF-08

24.4

16

MAA-16-24

FCV16

15.8

22

MAA-22-24

FCV22

20.8

HC-SFE202(B)

CE05-2A24-

10PD-B

MS3106A24-

10S(D190)

Angle

Daiwa

Dengyo

28

MAA-28-24

FCV28

26.4

Summary of Contents for GENERAL PURPOSE AC SERVO MR-E- A/AG

Page 1: ...General Purpose AC Servo MODEL MR E A AG INSTRUCTION MANUAL B ...

Page 2: ...ous conditions 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 d...

Page 3: ...es Otherwise a fire may cause When the servo amplifier has become faulty switch off the main servo amplifier power side Continuous flow of a large current may cause a fire When a regenerative brake resistor is used use an alarm signal to switch main power off Otherwise a regenerative brake transistor fault or the like may overheat the regenerative brake resistor causing a fire 3 To prevent injury ...

Page 4: ...ental conditions Conditions Environment Servo amplifier Servo motor 0 to 55 non freezing 0 to 40 non freezing Ambient temperature 32 to 131 non freezing 32 to 104 non freezing Ambient humidity 90 RH or less non condensing 80 RH or less non condensing 20 to 65 non freezing 15 to 70 non freezing Storage temperature 4 to 149 non freezing 5 to 158 non freezing Storage humidity 90 RH or less non conden...

Page 5: ...meter settings must not be changed excessively Operation will be insatiable 4 Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately Any person who is involved in disassembly and repair should be fully competent to do the work Before resetting an alarm make sure that the run signal is off to prevent an accident A sudden r...

Page 6: ...is stored in a dusty or damp place make adequate provision e g cover the whole product If the insulation resistance of the winding decreases reexamine the storage method Though the servo motor is rust proofed before shipment using paint or rust prevention oil rust may be produced depending on the storage conditions or storage period If the servo motor is to be stored for longer than six months app...

Page 7: ...submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident EEP ROM life The number of write times to ...

Page 8: ...ifiers need not comply with this directive 2 PRECAUTIONS FOR COMPLIANCE 1 Servo amplifiers and servo motors used Acquisition schedule Use the servo amplifiers and servo motors which comply with the standard model Servo amplifier MR E 10A to MR E 200A Servo motor HC KFE HC SFE 2 Configuration Reinforced insulating transformer NFB MC SM No fuse breaker Magnetic contactor Reinforced insulating type 2...

Page 9: ...Use the 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 no fuse 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 Se...

Page 10: ... conforms to the above circuit 4 Capacitor discharge time The capacitor discharge time is as listed below To ensure safety do not touch the charging section for 10 minutes after power off Servo amplifier Discharge time min MR E 10A 20A 1 MR E 40A 2 MR E 70A to 200A 3 5 Options and auxiliary equipment Use UL C UL standard compliant products 6 About wiring protection For installation in United State...

Page 11: ...A 10 MEMO ...

Page 12: ... 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 description of the interfaces 3 30 3 7 I...

Page 13: ...art 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 operation mode 6 11 6 8 1 Mode change 6 11 6 8 2 Jog operation 6 12 6 8 3 Positioning operation 6 13 6 8 4 Motor les...

Page 14: ...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 characteristics 12 1 12 2 Powe...

Page 15: ...allation orientation 14 6 14 4 3 Load mounting precautions 14 7 14 4 4 Permissible load for the shaft 14 8 14 4 5 Protection from oil and water 14 11 14 4 6 Cable 14 12 14 5 Connectors used for servo motor wiring 14 13 14 5 1 HC KFE series 14 13 14 5 2 HC SFE series 14 13 14 6 Specifications 14 19 14 6 1 Standard specifications 14 19 14 6 2 Torque characteristics 14 21 14 6 3 Servo motors with red...

Page 16: ... 8 15 2 2 Internal connection diagram of servo amplifier 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 18 15 3 Startup 15 25 15 3 1 Speed control mode 15 25 15 3 2 Torque control mode 15 27 15 4 Parameters 15 29 15 4 1 Item list 15 29 15 4 2 Details list 15 32 15 5 Display and operation 15 51 15 5 1 Display flow...

Page 17: ...6 MEMO ...

Page 18: ... The MR E series servo motor is equipped with an incremental position encoder that has the resolution of 10000 pulses rev to ensure high precision positioning 1 Position control mode An up to 500kpps high speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 10000 pulses rev resolution The position smoothing function provides a choice of two d...

Page 19: ...al speed control Current control Model torque Virtual motor Virtual encoder Model speed D I O control Servo on Start Failure etc Controller Analog monitor 2 channels RA DS D C P NFB MC L1 L2 L3 CN1 CN3 RS 232C E2 I F CN2 U V W U V W SM E1 RS 232C D A Power supply 3 phase 200 to 230VAC 1 phase 230VAC Note 2 Note 3 Note 3 Note 3 Note 3 Note 3 Note 3 Note 1 The built in regenerative brake resistor is...

Page 20: ... frequency 500kpps 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 10 revolutions Position control mode Torque limit Set by parameter setting Speed control range Internal speed command 1 5000 Speed fluctuation ratio 0 01 or less l...

Page 21: ...ass filter Suppresses 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 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 t...

Page 22: ...rvo status is shown 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 t...

Page 23: ...0 750 40 400 10 100 20 100 200 1000 200 2000 MR E 200A MR E 40A or less MR E 70A 100A Rating plate Rating plate Rating plate Series Rated output General purpose interface Symbol Rated output W Symbol Rated output W A MR E 1 6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors The same combinations apply to the models with electromagnetic brakes...

Page 24: ...mmand device RS 232C and output analog monitor data I O signal connector CN1 Used to connect digital I O signals Section3 3 Encoder connector CN2 Connector for connection of the servo motor encoder Section3 3 Section13 1 2 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 Section3 10 Section1...

Page 25: ...on3 3 Section13 1 2 Chapter14 I O signal connector CN1 Used to connect digital I O signals Section3 3 Name plate Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Connector for connection of the servo motor encoder Section1 5 Section3 3 Section13 1 2 Motor power supply connector CNP2 Used to connect the servo motor...

Page 26: ...PE terminal Servo motor Personal computer Servo amplifier Regenerative option Options and auxiliary equipment No fuse breaker Magnetic contactor Servo configuration software Regenerative option Refer to Section 13 2 2 Section 13 2 2 Section 13 1 4 Section 13 1 1 Note 1 Encoder cable Options and auxiliary equipment Refer to Cables Section 13 2 1 Command device Note 1 Power supply lead Power factor ...

Page 27: ...e option Refer to Section 13 2 2 Section 13 2 2 Section 13 1 4 Section 13 1 1 Options and auxiliary equipment Refer to Cables Section 13 2 1 Power factor improving reactor Section 13 2 3 Power factor improving reactor FR BAL 3 phase 200V to 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC To CN2 To CN1 To CN3 Servo amplifier Regenerative option Personal computer Command device...

Page 28: ...ering the 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 2 1 Environmental conditions Environment Conditions 0 ...

Page 29: ... more 40mm 1 6 in or more Servo amplifier 40mm 1 6 in or more Wiring clearance Top Bottom 2 8 in 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 fan to prevent the internal temperature of the control box from exceeding the environmental conditions MODE CN3 SET CN1 CN2 CNP2 C...

Page 30: ...ide to make 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 wit...

Page 31: ...2 4 2 INSTALLATION MEMO ...

Page 32: ...ect cables to correct terminals 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 RA Servo Amplifier Control outpu...

Page 33: ...MG SON RES LSP LSN SG 1 VIN CN1 13 SG SVRDY COM2 COM2 SVEND COM4 PGO VC FPO FP COM5 RP RPO CLR COM3 24 Positioning module Note 9 2m 6 5ft max Servo amplifier Note 8 Note 8 CN1 CN1 Note2 4 Note 6 Trouble Zero speed Plate Note 8 Plate Note 3 5 Emergency stop Servo on Reset Note 5 Forward rotation stroke end Reverse rotation stroke end Note 10 Servo configuration software Personal computer 10m 32ft m...

Page 34: ... 2 5 When starting operation always connect the emergency stop signal EMG and forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts 6 Trouble ALM is connected with COM in normal alarm 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 7 When connecting the personal computer t...

Page 35: ... 11 1 10 19 20 5 13 22 23 24 25 14 Note 8 24VDC Positioning module AD75P A1SD75P Note 9 10m 32ft max Servo amplifier Note 2 4 Note 6 Trouble Zero speed Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Note 3 5 Emergency stop Servo on Reset Note 5 Forward rotation stroke end Reverse rotation stroke end ...

Page 36: ...ways connect the emergency stop signal EMG and forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts 6 Trouble ALM is connected with COM in normal alarm 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 7 When connecting the personal computer together with monitor outputs 1 ...

Page 37: ... SG Note 8 Positioning module QD75D Note 9 10m 32ft max Servo amplifier Note 8 CN1 Note 8 CN1 Note 2 4 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Note 8 Plate Note 3 5 Emergency stop Servo on Reset Note 5 Forward rotation stroke end Reverse rotation stroke end Note 10 Servo configuration software...

Page 38: ... 2 5 When starting operation always connect the emergency stop signal EMG and forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts 6 Trouble ALM is connected with COM in normal alarm 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 7 When connecting the personal computer t...

Page 39: ...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 switch normally clo...

Page 40: ... 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 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 LG 14 VIN VIN 1 Servo amplifier Note Note Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7k Approx 100k Approx 100k Approx 1 2k Approx 1 2k Case PE External power supply 24VDC Note P ...

Page 41: ...ment 1 Signal arrangement 3 MR 5 7 MD 9 2 LG 4 MRR 6 8 MDR 10 LG 1 CN1 MODE CN3 SET CN1 CN2 CNP2 CNP1 L3 L2L1 D C P W V U CHARGE MITSUBISHI MR E P5 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 termi...

Page 42: ...OPC 3 I RES 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 P...

Page 43: ...lector PC Proportion control MBR Electromagnetic brake interlock ST1 Forward rotation start LZ ST2 Reverse rotation start LZR Encoder Z phase pulse differential line driver TL 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 ...

Page 44: ...uit and coast the servo motor servo off Set 1 in parameter No 41 to switch this signal on keep terminals connected automatically in the servo amplifier DI 1 Reset RES CN1 3 Disconnect RES SG for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset signal Refer to Section 10 2 1 Shorting RES SG in an alarm free status shuts off the base circuit The base circuit is not sh...

Page 45: ...d DI 1 Speed selection 3 SP3 0 0 0 Internal speed command 1 parameter No 8 DI 1 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...

Page 46: ... No 69 1 0 Parameter No 70 1 1 Parameter No 71 Electronic gear selection 2 CM2 Note 0 CM1 CM2 SG off open 1 CM1 CM2 SG on short DI 1 Gain changing CDP When using this signal make it usable by the setting of parameter No 43 to 48 Connect CDP SG 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 setting...

Page 47: ...speed rotation DO 1 Speed reached SA CN1 10 SA SG are connected when the servo motor speed has nearly reached the preset speed When the preset speed is 50r min or less SA SG are kept connected DO 1 Zero speed ZSP CN1 12 ZSP SG are connected when the servo motor speed is zero speed 50r min or less Zero speed can be changed using parameter No 24 DO 1 Electromagnetic brake interlock MBR CN1 12 Set 1 ...

Page 48: ...L 13 Clock error AL 15 Memory error 2 AL 17 Board error AL 19 Memory error 3 AL 37 Parameter error AL 8A Serial communication timeout 0 0 0 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 AL 50 Overload 1 0 1 1 AL 51 Overload 2 AL 24 Main circuit error 1 0 0 AL 32 Overcurrent AL 31 Overs...

Page 49: ... 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 Signal Sym...

Page 50: ...timing of 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 pu...

Page 51: ... 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 a 1 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 pulse train transistor Reverse rotation pulse train transistor ON OFF Forward rotatio...

Page 52: ... 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 a 1 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 rotation pulse train Reverse rotation pulse train Forward rotation command Reverse rotation command ...

Page 53: ...ON Alarm Ready RD ON OFF Yes No 80ms or less 10ms or less 10ms or less ON OFF 4 Electronic gear switching The combination of CM1 SG and CM2 SG 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 namerator of the electronic gear changes Therefore if any shock occurs at this change use position smoothing parameter No 7 to r...

Page 54: ...tion 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 made valid 0 Internal torque limit value 1 parameter No 28 1 Parameter No...

Page 55: ...ard rotation start ST1 and reverse rotation start ST2 combination Note External input signals Rotation direction ST2 ST1 Internal speed commands 0 0 Stop Servo lock 0 1 CCW 1 0 CW 1 1 Stop Servo lock Note 0 ST1 ST2 SG off open 1 ST1 ST2 SG on short The forward rotation start signal ST1 and reverse rotation start signal ST2 can be assigned to any pins of the connector CN1 using parameters No 43 to ...

Page 56: ... 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 SG off open 1 SP1 SP2 SP3 SG 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 ...

Page 57: ...The control mode may be changed 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 signal 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...

Page 58: ...SP2 to select between 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 SG off open 1 SP1 SG on short The speed may also be changed during rotation In this case it is incr...

Page 59: ...wer 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 allow about 30 minutes for cooling before resuming operation 2 Regenerative alarm If operation is repeated by switching power off then o...

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

Page 61: ... relay or open collector transistor VIN SG Switch SON etc External power supply 24VDC 200mA or more Servo amplifier R Approx 4 7 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 resister R for a lamp load Permissible current 40mA or less inrush current 100mA or less a Inductive load VIN SG Servo ampl...

Page 62: ...rface DI 2 Provide a pulse train signal in the open collector or differential line driver system a Open collector system 1 Interface VIN PP NP SG SD Servo amplifier Max input pulse frequency 200kpps About 1 2k External power supply 24VDC 2 Conditions of the input pulse 0 9 0 1 tc tHL tc tLH tF tLH tHL 0 2 s tc 2 s tF 3 s PP NP ...

Page 63: ...cy 500kpps Servo amplifier Am26LS31 or equivalent About 100 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 amplifier OP SD LG ...

Page 64: ...ifier Servo amplifier Am26LS32 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 LZ signal varies 3 8T on its leading edge 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 ...

Page 65: ...urchase it without fail 3 7 1 Connection example Wire the power supply and main circuit as shown below so that the servo on signal turns off as soon as alarm occurrence is detected and power is shut off A no fuse breaker NFB must be used with the input cables of the power supply 1 For 3 phase 200 to 230VAC power supply 3 phase 200 to 230 VAC Emergency stop Servo on Trouble Servo amplifier External...

Page 66: ...C connect the power supply to L1 L2 and leave L3 open L1 Servo amplifier Power supply MR E 10A to 70A MR E 100A 200A 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 output W Connect to the servo motor power supply terminals U V W P C Regenerative brake option D To use the built in regenerative brake resistor of the servo amplifier connect the ...

Page 67: ...f and the servo motor shaft coasts 2 Timing chart 20ms 20ms 20ms 10ms 10ms 10ms 10ms 10ms 60ms 60ms 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 3 Emergency stop Make up a circuit which shuts off power as soon as EMG SG are opened at an emergency stop To ensure safety always install an external emergency stop switch ...

Page 68: ...as 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 the ground cable of the servo amplifier to the earth via the protective earth of the control box Do not connect them directly to the protective earth of the control panel Servo amplifier Servo m...

Page 69: ...r Electro magnetic brake To be shut off when servo on signal switches off or by alarm signal Encoder cable Motor Servo motor Note2 U V W CNP2 Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake HC SFE202 B U V W Servo amplifier B1...

Page 70: ...le terminal Encoder cable 0 3m 0 98ft Power supply lead 4 AWG19 0 3m 0 98ft With connector 1 172169 9 AMP 1 2 3 4 1 2 5 4 3 6 1 2 3 5 6 Power supply connector 5557 04R 210 Pin Signal Earth U V W Power supply connector 5557 06R 210 Pin Signal Earth U V W MR 1 2 3 MRR CONT MD 4 5 6 MDR P5 7 8 9 LG SHD Encoder connector signal arrangement B1 B2 Note Note Note Supply electromagnetic brake power 24VDC ...

Page 71: ... supply connector signal arrangement Pin A B C D E F G U V W CE05 2A24 10PD B Key A B C D E F G Signal Earth Note B2 Note B1 Note Supply electromagnetic brake power 24VDC There is no polarity Note Supply electromagnetic brake power 24VDC There is no polarity View c View c H J K M L N T P S R C A B D E F G Pin A B C D E F G H J Signal MR MRR Pin K L M N P R S T Signal SHD LG P5 Encoder connector si...

Page 72: ... lift applications 1 Set 1 in parameter No 1 to make the electromagnetic brake interlock signal 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 electromagnetic brake 3 The brake will operate when the power 24VDC switches o...

Page 73: ...o 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 b Emergency stop signal EMG ON OFF Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid OFF Emergen...

Page 74: ...ke Electromagnetic brake operation delay time Electromagnetic brake 10ms d 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 10ms or less Electromagnetic brake operation delay time Note Changes with the operating...

Page 75: ...e switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 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 conne...

Page 76: ...ort caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Cable size 0 2 to 2 5mm2 Alternatively a bar terminal may be used to put the wires together Phoenix contact make Cable size Bar terminal type mm 2 AWG For 1 cable For 2 cables Crimping tool Maker BT1 25 9 1 NH1 NICHIFU 1 25 16 TUB 1 25 YHT 2210 JST AI TWIN2 1 5 8BK 1 5 16 AI1 5 8B...

Page 77: ...R0 3 22 R0 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 ...

Page 78: ...Insert the 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 ...

Page 79: ...e like securely 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 ...

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

Page 81: ...C Cumulative feedback pulses and in two second later shows data 2 Test operation 1 Using jog operation in the test operation mode make sure that the servo motor operates 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 for the parameter definitions and to Sections 6 5 for the setting method Parameter No Na...

Page 82: ...ptimum tuning results are provided by setting 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 2 for the servo motor equipped with electromagnetic brake Note that the st...

Page 83: ...ration time constant 500 Set 500ms 13 S pattern acceleration deceleration time constant 0 Not used 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 following procedure 1 Switch on circuit power supply 2 Switch on the servo on signal SON When placed in the servo on status the servo amplifie...

Page 84: ... b Alarm occurrence 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 occurs d Stroke end LSP LSN OFF The servo motor is brought to a sudden stop and servo locked The motor may be ru...

Page 85: ...4 6 4 OPERATION MEMO ...

Page 86: ...asic parameter 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 sett...

Page 87: ...merator P 1 4 CDV Electronic 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 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...

Page 88: ... sequence output P S 100 ms 34 GD2 Ratio of load inertia moment to servo motor inertia moment P S 70 0 1 times 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 000...

Page 89: ...2 changing 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...

Page 90: ... 2 400W 3 500W 4 750W 5 1kW 6 1 5kW 7 2kW POINT Wrong setting may cause the regenerative brake option to burn If the regenerative brake 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 parameters 1 OP1 Function selection 1 Used to select the input signal f...

Page 91: ...Hz 9 85Hz 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 Ordina...

Page 92: ...ary delay 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 moto...

Page 93: ...ch 0r min 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 accel...

Page 94: ...y 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 anal...

Page 95: ...0000 Refer to Name and function column P S Control Mode 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 Parameter block Used to select the reference and write ranges of the parameters Operation can be performed for the parameter...

Page 96: ...ervo locked to remain still at a stop in the internal speed control mode 0 Valid 1 Invalid Slight 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 ...

Page 97: ...ction column P S 23 FFC Feed forward gain Set the feed forward gain When the setting is 100 the droop pulses during operation at constant speed are nearly zero However sudden acceleration deceleration will increase the overshoot As a guideline when the feed forward gain setting is 100 set 1s or more as the acceleration deceleration time constant up to the rated speed 0 0 to 100 P 24 ZSP Zero speed...

Page 98: ...35 P S Internal 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 100 0 to 100 P S Note External input signals TL1 Torque limit value made valid 0 Internal torque limit value 1 parameter No 28 1 Parameter No 76 Parameter No 28 Parameter No 28 Parameter No 76 Parameter No 28 Parameter No 76 28 TL1 Note...

Page 99: ... auto tuning is automatically used 817 rad s 20 to 20000 P S 38 VIC Speed integral compensation Used to set the integral time constant of the speed loop 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 automatically used 48 ms 1 to 1000 P S 39 VDC Speed differential...

Page 100: ...ment Used to set the control mode change signal input connector pins Note that this parameter is made valid when parameter No 0 is set to select the position int ernal speed change mode Set value 0 1 2 Connector pin No CN1 4 CN1 3 CN1 5 3 CN1 6 Clear CR selection 0 Droop pulses are cleared on the leading edge 1 While turning on droop pulses are always cleared 4 CN1 7 0 0 If forward rotation stroke...

Page 101: ...ed in each 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 pi...

Page 102: ...me as in input 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 t...

Page 103: ...roke 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 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 sett...

Page 104: ...communication error Regenerative 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 Set value Connector pin No Note 0 off 1 on Setting of warning WNG output Select the connector pin ...

Page 105: ...ocol checksum 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 ...

Page 106: ... 8dB 4dB Notch 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 1...

Page 107: ...ection 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 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 ...

Page 108: ...condition 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 Don t change this value by any means 0 69 CMX2 Command pulse multiplying factor numerator 2 Used to set t...

Page 109: ...peed S 75 SC7 Internal speed command 7 Used to set speed 7 of internal speed commands 800 r min 0 to in stanta neous permi ssible 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...

Page 110: ...arameter 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 Ballscrew lead mm n Reduction ratio Pt Servo motor resolution pulses rev 0 Travel per command pulse mm pulse S Travel ...

Page 111: ...an ammeter to monitor the servo status or synchronizing the torque speed with the other servo 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 voltage...

Page 112: ...n CW direction Driving in CCW direction 7 Droop pulses 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 10V 8192pulse 10 V 0 8192 pulse 10 V CCW direction CW direction 8192 pulse 3 Torque 8 V Max torque 0 Max torque Driving in CW direction Driving in CCW direction 9 Droop pulses 10V 32...

Page 113: ...M 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 ...

Page 114: ...o 1 Slow stop Position control mode The motor is decelerated to a stop in accordance with the parameter No 7 value Internal speed control mode 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 op...

Page 115: ... delay or 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 Inpu...

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 ...

Page 117: ...he status 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 Lo...

Page 118: ...match the 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 freque...

Page 119: ...e load inertia 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 w...

Page 120: ...ion section of the servo amplifier Positioning operation can be performed once when there is no command from the external command device Motorless 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...

Page 121: ...is no sixth 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 section At this time the decimal point in the fourth digit flickers...

Page 122: ...ic parameter 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 se...

Page 123: ...lways 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 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 ...

Page 124: ...sition 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 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 Emergenc...

Page 125: ...ation must 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 displa...

Page 126: ...ration 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...

Page 127: ...If the communication cable is disconnected during jog operation performed by using the 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 butto...

Page 128: ... 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 operation CW Pau...

Page 129: ...ou can confirm 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 sc...

Page 130: ...PG1 parameter 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...

Page 131: ...lifier with the 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 deter...

Page 132: ...ed properly 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 torq...

Page 133: ...ment 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 co...

Page 134: ...procedure 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 satis...

Page 135: ...control parameter 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 characteri...

Page 136: ...ine resonance 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 ...

Page 137: ...l a Parameters 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 ...

Page 138: ... response frequency of the speed loop is as indicated in the following expression Speed loop response frequency Hz Speed control gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 2 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 compensa...

Page 139: ...tion control 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 U...

Page 140: ... resonance 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...

Page 141: ... or a too deep 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 3 1 2 0 14dB 8dB 00 01 02 03 04 ...

Page 142: ...stics 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 l...

Page 143: ...y of detecting 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 ballscrew or the like is used resonance of high frequency may occur as the response level of the servo system is inc...

Page 144: ...ignal to ensure 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 va...

Page 145: ...ore changing 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 0 1 times 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 aft...

Page 146: ...tion control 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...

Page 147: ...s 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 100 0 1 times 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 Ch...

Page 148: ... 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 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 Af...

Page 149: ...8 10 8 SPECIAL ADJUSTMENT FUNCTIONS MEMO ...

Page 150: ...s 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 For parts repl...

Page 151: ...ing inspection 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...

Page 152: ...s 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...

Page 153: ...apter 7 4 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 ...

Page 154: ...vo 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 ...

Page 155: ...ervo on signal 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 C...

Page 156: ...ower 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 error AL 30 0 1 0 Regenerative error Note 1 Note 1 Note 1 AL...

Page 157: ...nfiguration software may be used to refer to the cause Display Name Definition Cause Action 1 Power supply voltage is low 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 Power was restored after the bus voltage had dropped to 200VDC Review the power supply AL 10 Undervoltage Power supply...

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

Page 159: ...ect the wiring AL 32 Overcurrent Current that flew is higher than the permissible current of the servo amplifier 4 External noise caused the overcurrent detection circuit to misoperate Take noise suppression measures 1 Lead of built in regenerative brake resistor or regenerative brake option is open or disconnected 1 Change lead 2 Connect correctly 2 Regenerative transistor faulty Change servo amp...

Page 160: ...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 protector 3 Thermal protector in encoder is faulty Change servo motor 1 Servo amplifier is used in excess of its continuous output current 1 Reduce load 2 Review operation pattern 3 Use servo motor that provides larger output 2 Servo sy...

Page 161: ...Use servo motor which provides larger output 4 Position 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 E...

Page 162: ...e regenerative power of built in regenerative brake resistor or regenerative brake option Checking method Call the status display and check regenerative load ratio 1 Reduce frequency of positioning 2 Change regenerative brake option for the one with larger capacity 3 Reduce load AL E1 Overload warning There is a possibility that overload alarm 1 or 2 may occur Load increased to 85 or more of overl...

Page 163: ...10 12 10 TROUBLESHOOTING MEMO ...

Page 164: ...OUTLINE DIMENSION DRAWINGS 11 1 Servo amplifiers 1 MR E 10A MR E 20A 6 0 24 156 6 14 135 5 32 50 1 97 6 0 24 70 2 76 6 0 2 4 Weight 0 7 kg 1 54 lb Unit mm Unit in 168 6 61 PE terminals Terminal screw M4 Tightening torque 1 2 N m 169 9 oz in ...

Page 165: ...OUTLINE DIMENSION DRAWINGS 2 MR E 40A 156 6 14 22 0 87 135 5 32 168 6 61 6 0 24 Weight 1 1 kg 2 43 lb 6 0 2 4 Unit mm Unit in 70 2 76 70 2 76 PE terminals Terminal screw M4 Tightening torque 1 2 N m 169 9 oz in ...

Page 166: ... DRAWINGS 3 MR E 70A MR E 100A 0 24 70 2 76 190 7 48 25 0 98 159 6 26 42 1 65 22 0 87 156 6 14 6 0 24 Weight 1 7 kg 3 75 lb 70 2 76 6 Unit mm Unit in 168 6 61 PE terminals Terminal screw M4 Tightening torque 1 2 N m 169 9 oz in ...

Page 167: ...LINE DIMENSION DRAWINGS 4 MR E 200A 90 3 54 78 3 07 168 6 61 156 6 14 70 2 76 195 7 68 6 0 24 Weight 2 0 kg 4 41 lb Unit mm Unit in 156 6 14 40 1 58 6 0 2 4 PE terminal Terminal screw M4 Tightening torque 1 2 N m ...

Page 168: ... in 10 0 0 39 Logo etc are indicated here 12 0 0 47 22 0 0 87 39 0 1 54 23 8 0 94 14 0 0 55 12 7 0 50 33 3 1 31 b Threaded type Unit mm Unit in 10 0 12 0 22 0 39 0 23 8 14 0 12 7 33 3 5 7 27 4 1 31 0 50 0 22 0 94 1 54 0 39 0 87 0 55 1 08 0 47 Model Connector 10126 3000VE Shell kit 10326 52A0 008 Note This is not available as option and should be user prepared ...

Page 169: ...ver A 54594 1015 Cover B 54595 1005 Shell cover 58935 1000 Shell body 58934 1000 Cable clamp 58934 0000 Screw 58203 0010 12 5 0 49 40 1 58 22 7 0 89 11 0 43 Unit mm Unit in 3 CN3 Connector Marushin electric mfg Connector MP371 6 6 0 24 44 5 1 75 8 95 0 35 5 6 3 4 2 1 14 8 0 58 5 0 20 ...

Page 170: ...1 1kW or less Crimping tool 57349 5300 molex 2 5 0 10 5 0 20 0 5 0 02 25 0 98 11 4 0 45 8 5 0 34 15 3 0 60 Pitch Circuit number indication A B 6 5 4 3 2 1 Unit mm Unit in Variable Dimensions mm in Connector A B Number of Poles Application 51241 0300 22 8 0 9 15 0 59 3 CNP2 2kW 51241 0600 45 3 1 78 37 5 1 48 6 CNP1 2kW Crimping tool 57349 5300 molex 3 75 0 15 Circuit number indication B A 3 2 1 4 5...

Page 171: ... 31 5 1 24 25 0 98 6 CNP1 1kW or less 5 0 20 1 5 0 06 26 5 1 04 8 5 0 34 18 0 71 14 3 0 56 Housing Housing cover Pitch A B 5 0 20 Unit mm Unit in Variable Dimensions mm in Connector A B Number of Poles Application 54927 0310 21 5 0 85 22 5 0 89 3 CNP2 2kW 54927 0610 44 1 73 37 5 1 48 6 CNP1 2kW 1 5 0 06 26 5 1 04 8 5 0 34 18 0 71 14 3 0 56 Housing Housing cover B A 7 5 0 3 7 5 0 3 Pitch 5 0 20 ...

Page 172: ...cteristics 12 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 va...

Page 173: ...losure Refer 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 he...

Page 174: ... inertia moment converted into equivalent value on servo motor shaft kg cm2 oz in2 Brake time constant s te Delay time of control section s There is internal relay delay time of about 30ms 0 14 16 2 4 8 10 6 12 0 500 1000 1500 2000 2500 3000 13 73 23 43 Speed r min Time constant ms 0 0 005 0 01 0 015 0 02 0 025 0 03 0 035 0 04 0 045 0 500 1000 1500 2000 202 102 152 52 Speed r min Time constant s a...

Page 175: ... graph calculated values Since they are not guaranteed values provide a little allowance for these values 1 107 5 107 1 108 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 a Flexing life times 4 7 10 20 40 70 100 200 Flexing radius mm a Long flexing life encoder cable MR EKCBL M H MR ESCBL M H MR ENCBL M H ...

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

Page 177: ...sd1 TU TF E3 2 0 1047 N0 T3 Tpsd1 4 8 T4 TU E4 0 No regeneration 5 T5 JL JM 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 T7 JL JM 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...

Page 178: ...out 100 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 brake option body Always use twisted cables of max 5m 16 4ft length for connection with the servo amplifier Always remove the wiring from across P D and fit the regenerative brake option across P C The G3 and G4 term...

Page 179: ...e dimensions Weight Regenerative brake option Regenerative power W Resistance LA LB LC LD kg lb MR RB032 30 40 30 1 18 15 0 59 119 4 69 99 3 9 0 5 1 1 MR RB12 100 40 40 1 57 15 0 59 169 6 69 149 5 87 1 1 2 4 b MR RB32 MR RB30 79 7 05 150 5 91 125 4 92 Terminal block 7 0 28 10 0 39 3 2 0 13 318 12 52 17 0 67 90 3 54 100 3 94 Unit mm in Terminal block G4 G3 C P Terminal screw M4 Tightening torque 1 ...

Page 180: ...ot 7 0 28 12 0 47 116 4 57 128 5 04 17 0 67 200 7 87 2 3 0 09 350 13 78 325 12 80 Terminal block Terminal block G4 G3 C P Terminal screw M4 Tightening torque 1 2 N m 10 lb in Weight Regenerative brake option Regenerative power W Resistance kg lb MR RB50 500 13 5 6 12 3 ...

Page 181: ...tion with the servo motor and other models Those indicated by broken lines in the figure are not options Regenerative brake option Servo amplifier HC SFE HC KFE Operation panel Controller 1 2 3 4 5 7 8 6 9 15 16 17 18 19 To U V W Personal computer 14 Power supply 12 20 21 24 25 13 13 Analog monitor Analog monitor 10 11 22 23 ...

Page 182: ...20 Note molex or equivalent Plug MS3106B20 29S Cable clamp MS3057 12A JAE 7 Encoder connector set MR ECNS IP20 Note molex or equivalent Plug MS3106A20 29S D190 Cable clamp CE3057 12A 3 D265 Back shell CE02 20BS S DDK 8 Encoder connector set MR ENECNS IP65 IP67 9 Control signal connector set MR ECN1 In units of 20 pcs box Connector 10126 3000VE Shell kit 10326 52F0 008 3M or equivalent 10 Amplifier...

Page 183: ...ly connector set MR PWCNK1 Plug 5559 04P 210 Terminal 5558PBT3L for AWG16 6 pcs molex IP20 19 Motor power supply connector set MR PWCNK2 Plug 5559 06P 210 Terminal 5558PBT3L for AWG16 8 pcs molex For motor with brake IP20 20 Motor power supply connector Insulation displacement type MR E 10A to 100A MR ECNP2 A In units of 20 pcs box Connector 51240 0300 molex or equivalent Terminal 56125 0118 molex...

Page 184: ... customer side When fabricating an encoder cable use the recommended wires given in Section 13 2 1 and the MR ECNM connector set for encoder cable fabrication and fabricate an encoder cable as shown in the wiring diagram Refer to section 14 5 and choose the encode side connector according to the servo motor installation environment a MR EKCBL M L standard flex life model These encoder cables are u...

Page 185: ...te Plate Servo amplifier side Encoder side Note Note Note When an encoder cable is fabricated this wire is not required AWG23 Encoder cable of 30m or more POINT The communication system of the encoder cable in this wiring diagram is the four wire type Set 1 in parameter No 20 When fabricating an encoder cable use the MR ECNM connector set Referring to the following wiring diagram you can fabricate...

Page 186: ...40 50 40 131 2 50 164 0 2 Connection diagram For the pin assignment on the servo amplifier side refer to Section 3 3 1 1 2 3 4 5 6 7 8 9 MR MRR MD MDR P5E SHD Encoder connector 172161 9 AMP CN2 30cm 0 98ft Servo amplifier Encoder connector Encoder cable supplied to servo motor Servo motor Encoder Encoder cable option or fabricated 50m 164 0ft max CONT P5G Encoder cable of less than 30m When fabric...

Page 187: ...ot required Encoder cable of 30m or more POINT The communication system of the encoder cable in this wiring diagram is the four wire type Set 1 in parameter No 20 When fabricating an encoder cable use the MR ECNM 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 5 3 7 4 MD 7 9 SD 1 2 8 9 MR EKCBL30M H MR EKCBL40M H MR...

Page 188: ...L M N SHD P R LG S P5 T Servo amplifier 50m 164 0ft 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 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 L...

Page 189: ...rameter No 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 ...

Page 190: ... life Model MR ESCBL M H Symbol Cable Length m ft Communication System 2 6 56 5 16 4 10 32 8 20 65 6 30 98 4 Two wire type Note Four wire type Note Set 1 in parameter No 20 2 5 10 20 30 40 50 40 131 2 50 164 0 Model MR ENECBL M H Long flex life Symbol Cable Length m ft Communication System 2 6 56 5 16 4 10 32 8 20 65 6 30 98 4 Two wire type Note Four wire type Note Set 1 in parameter No 20 2 5 10 ...

Page 191: ...30m When fabricating 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 ENE...

Page 192: ...0 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 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 encode...

Page 193: ...R DTR SD 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 ...

Page 194: ...personal computer 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 ...

Page 195: ...servo motor Model Note 1 Description Note 2 Personal computer IBM PC AT compatible where the English version of Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 or Windows 2000 Professional operates Processor Pentium 133MHz or more Windows 95 Windows 98 Windows NT Workstation 4 0 Windows 2000 Professional Pentium 150MHz or more Windows Me Memory 16MB or more Windows 95 24MB or more Wind...

Page 196: ...D P The following table lists wire sizes The wires used assume that they are 600V vinyl wires and the wiring distance is 30m 98 4ft max If the wiring distance is over 30m 98 4ft 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 Se...

Page 197: ...76 composite 4 pair shielded cable A TYPE MR EKCBL M L MR ESCBL M L 20 30 65 6 98 4 0 3 12 6 pairs 7 0 18 63 6 1 2 8 2 UL20276AWG 23 6 pair BLACK 2 to 10 6 56 to 32 8 0 2 12 6 pairs 40 0 08 105 0 88 7 2 Note 2 A14B2339 4P 20 65 6 0 2 12 6 pairs 40 0 08 105 0 88 7 2 Note 2 A14B2343 6P Encoder cable MR EKCBL M H MR ESCBL M H MR ENECBL M H 30 to 50 98 4 to 164 0 2 14 7 pairs 40 0 08 105 0 88 8 0 Note...

Page 198: ...be about 90 For use with a 1 phase power supply it may be slightly lower than 90 3 phase 200 to 230VAC NFB FR BAL Servo amplifier R S T X Y Z L1 L2 L3 MC 1 phase 230VAC NFB FR BAL Servo amplifier R S T X Y Z L1 L2 L3 MC W W1 C RXSY T Z H 5 D1 5 Installation screw D 5 Unit mm Dimensions mm in Servo amplifier Model W W1 H D D1 C Mounting screw size Terminal screw size Weight kg lb MR E 10A 20A FR BA...

Page 199: ... 30 0 1 18 or more Crimping terminal for M4 screw Vinyl tube 4 7 1 0 0 19 0 04 0 8 0 03 13 2 6 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction Since the servo amplifier is an electronic device which handles small signals the following...

Page 200: ...duced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits input and output circuits those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables and those transmitted through the power supply cables Noises produced by servo amplifier Noises transmitted...

Page 201: ...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 may be transmi...

Page 202: ... 5 0 71 0 06 Note that a diode should be installed to a DC relay DC 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 effe...

Page 203: ...38 L or less 10 0 39 30 1 18 7 0 28 24 0 0 2 Note Screw hole for grounding Connect it to the earth plate of the control box 0 24 24 0 3 0 0 940 0 940 Unit mm Unit in B 0 3 0 01 2 5 0 20 hole installation hole Type A B C Accessory fittings Clamp fitting L AERSBAN DSET 100 3 94 86 3 39 30 1 18 clamp A 2pcs A 70 2 76 AERSBAN ESET 70 2 76 56 2 20 clamp B 1pc B 45 1 77 ...

Page 204: ...s must be four or less Do not wind the grounding wire together with the 3 phase wires The filter effect will decrease Use a separate wire for grounding 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 amplifier Line noise filter 3 0 12 FR BSF01 110 4 33 95 3 74 22 0 87 65 2...

Page 205: ...lter NV Ig1 Ign Iga Ig2 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...

Page 206: ...eakage current breaker generally available Find the terms of Equation 13 2 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 2 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...

Page 207: ... L2 L3 LINE LOAD 3 phase 200 to 230V AC 1 phase 230VAC or 1 phase 100 to120VAC 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 3 Outline drawing 23 0 0 906 LABEL LINE LOAD 168 0 6 614 L1 L2 L3 L1 L2 L3 149 5 5 886 LINE input side LOAD output side 140 0...

Page 208: ...the EN Standard The EN Standard compliant power connector sets are available from us as options Power Connector Set Model Servo Motor Model MR PWCNS1 HC SFE52 B to 152 B MR PWCNS2 HC SFE202 B 2 Installation The flange of the machine mounted with the HC KFE must be connected to the earth 14 1 2 Conformance with UL C UL standard Mount the servo motor on a flange which has the following size or produ...

Page 209: ...ure Insulation class Weight Serial number 2 Model a HC KFE series low inertia small capacity 3000 r min 100 1 Appearance Shaft type Symbol Shaft Shape None K Note With keyway Note With key Symbol Reduction Gear None Without G1 For general industrial machine G2 For precision application Electromagnetic brake Symbol Electromagnetic Brake None Without B With Rated speed Rated output Symbol Rated Outp...

Page 210: ...magnetic brake Electromagnetic Brake Without With Rated speed 2000 r min Rated output Appearance Symbol B None Note Reduction Gear Symbol Shaft type None Shaft Shape With keyway Note Without key Standard Straight shaft K For general industrial machine flange type For general industrial machine leg type G1H For precision application G2 15 20 1500 2000 2 HC SFE ...

Page 211: ...der connector Power cable Power lead U V W Earth lead Brake lead for motor with electromagnetic brake Section 14 7 4 Name Application Refer To Encoder Section 14 7 1 Section 14 5 Servo motor shaft Section 14 7 4 Power connector Power supply U V W Earth Brake for motor with electromagnetic brake Some motors with electromagnetic brakes have brake connectors separately Section 14 5 Section 14 5 ...

Page 212: ...ury may occur The lifting eyebolts of the servo motor may only be used to transport the servo motor They must not be used 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 wil...

Page 213: ...indicates the maximum value normally the bracket opposite to load side When the servo motor is at a stop the bearings are likely to fret and vibration should therefore be suppressed to about half of the permissible value Servo motor Vibration X Y Graph of vibration servo amplitude vs speed Speed r min Vibration amplitude both amplitudes m 200 100 80 60 50 40 30 20 500 1000 1500 2000 2500 3000 3500...

Page 214: ...nd stud Nut Washer Pulley 2 For the servo motor shaft with a keyway use the screw hole in the shaft end For the shaft without a keyway use a friction coupling or the like 3 When removing the pulley use a pulley remover to protect the shaft from impact 4 To ensure safety fit a protective cover or the like on the rotary area such as the pulley mounted to the shaft 5 When a threaded shaft end part is...

Page 215: ...gear Note L Permissible Radial Load Permissible Thrust Load Servo Motor mm in N lb N lb 053 13 25 0 98 88 20 59 13 23 43 30 1 18 245 55 98 22 HC KFE 73 40 1 57 392 88 147 33 52 to 152 55 2 17 980 220 490 110 HC SFE 202 79 3 11 2058 463 980 220 Note For the symbols in the table refer to the following diagram Radial load Thrust load L L Distance from flange mounting surface to load center 2 With red...

Page 216: ...ratio HC SFE52 B G1 HC SFE102 B G1 HC SFE152 B G1 HC SFE202 B G1 1 6 2058 2842 2842 2842 1 11 2391 3273 3273 3273 1 17 2832 3646 3646 3646 1 29 3273 4410 5135 7291 1 35 5253 5253 6047 8555 1 43 5253 6047 8555 8555 N 1 59 5800 9741 9741 9741 1 6 463 639 639 639 1 11 538 728 728 728 1 17 637 820 820 820 1 29 728 991 1154 1639 1 35 1181 1181 1359 1923 1 43 1181 1359 1923 1923 Permissible Radial Load ...

Page 217: ... 45 3430 8036 8036 8036 1 5 187 187 187 375 1 9 220 220 441 441 1 20 286 595 595 1366 1 29 661 661 1542 1542 Permissible Radial Load lb 1 45 771 1807 1807 1807 1 5 1176 1176 1176 2156 1 9 1568 1568 2646 2646 1 20 2254 3724 3724 9506 1 29 4704 4704 11760 11760 N 1 45 5390 14700 14700 14700 1 5 264 264 264 485 1 9 353 353 595 595 1 20 507 837 837 2137 1 29 1058 1058 2644 2644 Permissible Thrust Load...

Page 218: ...r than the oil seal lip oil will enter the servo motor leading to a fault Also provide a breathing hole in the gear box to hold the internal pressure low The HC KFE series servo motor is not equipped with a V ring or an oil seal and cannot be used with the gear box as described above Oil should be shut off on the gear box side Servo motor V ring Gear Lip Height above oil level h Height above Oil L...

Page 219: ...coolant the sealant packing cable and others may be affected depending on the oil type 7 In the environment where the servo motor is exposed to oil mist oil water and or like the servo motor of the standard specifications may not be usable Contact us 8 In the case of the servo motor with oil seal the oil seal may sound during operation It poses no problems in function 14 4 6 Cable The power supply...

Page 220: ... B 5557 06R 210 5559 06P 210 5558PBT3L 57022 5300 2 For connection of encoder Cable Side Connector Servo Motor Connector Supplied for Servo Motor AMP Housing AMP Connector pin AMP Cable clamp Toa Electric Industry HC KFE B 1 172169 9 1 172161 9 170359 1 170363 1 loose piece MTI 0002 14 5 2 HC SFE series 1 Non waterproof UL C UL Standard compliant a When using cabtyre cables 1 For connection of pow...

Page 221: ...pe Maker Size Model Model ID 1 2 RCC 104RL MS22F VF 04 14 0 3 4 RCC 106RL MS22F VF 06 19 0 Nippon flex 1 RCC 108RL MS22F VF 08 24 4 16 MSA 16 22 FCV16 15 8 22 MSA 22 22 FCV22 20 8 Straight Daiwa Dengyo 28 MSA 28 22 FCV28 26 4 1 2 RCC 304RL MS22F VF 04 14 0 3 4 RCC 306RL MS22F VF 06 19 0 Nippon flex 1 RCC 308RL MS22F VF 08 24 4 16 MAA 16 22 FCV16 15 8 22 MAA 22 22 FCV22 20 8 HC SFE52 B to 152 B CE0...

Page 222: ...F 04 14 0 Nippon flex 3 4 RCC 306RL MS20F VF 06 19 0 16 MAA 16 20 FCV16 15 8 HC SFE52 B to 202 B MS3102A20 29P MS3106A20 29S D190 Angle Daiwa Dengyo 22 MAA 22 20 FCV22 20 8 3 For connection of brake 1 Plug Conduit 1 Plug 2 Connector for conduit Conduit 2 Connector for conduit 2 Connector for conduit Conduit Servo Motor Connector Supplied for Servo Motor 1 Plug DDK Type Maker Size Model Model ID Ni...

Page 223: ... 2 For connection of encoder 1 Plug 3 Cable clamp Cable 2 Back shell 3 Cable clamp Cable 2 Back shell 1 Plug 2 Back shell 3 Cable clamp DDK Servo Motor Connector Supplied for Servo Motor 1 Plug DDK Type Model Cable OD Model Straight CE02 20BS S HC SFE52 B to 202 B MS3102A20 29P MS3106A20 29S D190 Angle CE 20BA S 6 8 to 10 CE3057 12A 3 D265 3 For connection of brake 1 Plug Cable 1 Plug Cable 2 Conn...

Page 224: ... 2 RCC 304RL MS22F VF 04 14 0 3 4 RCC 306RL MS22F VF 06 19 0 Nippon flex 1 RCC 308RL MS22F VF 08 24 4 16 MAA 16 22 FCV16 15 8 22 MAA 22 22 FCV22 20 8 HC SFE52 B to 152 B CE05 2A22 23PD B CE05 6A22 23SD B Angle Daiwa Dengyo 28 MAA 28 22 FCV28 26 4 1 2 RCC 104RL MS24F VF 04 14 0 3 4 RCC 106RL MS24F VF 06 19 0 Nippon flex 1 RCC 108RL MS24F VF 08 24 4 16 MSA 16 24 FCV16 15 8 22 MSA 22 24 FCV22 20 8 St...

Page 225: ...VF 04 14 0 Nippon flex 3 4 RCC 306RL MS20F VF 06 19 0 16 MAA 16 20 FCV16 15 8 HC SFE52 B to 202 B MS3102A20 29P MS3106A20 29S D190 Angle Daiwa Dengyo 22 MAA 22 20 FCV22 20 8 3 For connection of brake 1 Plug Conduit 1 Plug 2 Connector for conduit Conduit 2 Connector for conduit 2 Connector for conduit Conduit Servo Motor Connector Supplied for Servo Motor 1 Plug DDK Type Maker Size Model Model ID N...

Page 226: ...moment WK2 oz in2 0 459 2 296 3 663 8 26 Note 2 Recommended ratio of load inertia moment to servo motor shaft inertia moment 10 times or less Servo amplifier built in regenerative brake resistor Note 5 Note 9 220 190 MR RB032 30W Note 5 Note 5 660 280 Note4 10 Regenerative brake duty times min MR RB12 100W Note 5 Note 5 2200 940 Power supply capacity Refer to Power supply equipment capacity and ge...

Page 227: ...ated value please consult us 3 When the servo motor is equipped with electromagnetic brake refer to section 14 8 When the servo motor is equipped with reduction gear please consult us 4 The regenerative brake duty indicated is the permissible duty when the servo motor running without load at the rated speed is decelerated to a stop When a load is connected the value in the table is multiplied by 1...

Page 228: ...000 2000 3000 40004500 Torque N m 0 2 0 4 0 8 0 HC KFE73 6 0 Short duration operation region Continuous operation region 1000 2000 3000 40004500 Speed r min 0 1 0 2 0 4 0 3 0 Torque N m Short duration operation region Continuous operation region HC KFE43 2 HC SFE series Torque N m 3 6 9 HC SFE52 0 1000 2000 3000 Speed r min Continuous operation region Short duration operation region 5 10 15 HC SFE...

Page 229: ...G2 G2 Note Reduction ratios for general industrial machines are nominal values For actual reduction ratios refer to 2 and 3 in this section 2 HC KFE series Reduction Gear Series For General Industrial Machines HC KFE G1 For Precision Applications HC KFE G2 Mounting method Flange mounting Mounting direction In any directions Grease lubrication Already packed Grease lubrication Already packed 200W 4...

Page 230: ...ove values are typical values and not guaranteed values 2 For grease lubrication the reduction gear is already grease packed a Lubrication of reduction gears for general industrial machines Oil lubrication cannot be used in applications where the servo motor will move Specify grease lubrication For grease lubrication the reduction gear is already grease packed For oil lubrication pack the reductio...

Page 231: ...IL 100 150 GENERAL SP GEAROL 100 150 Omala Oils 100 150 SPARTANEP 150 Mobilgear 629 ISO VG150 JOMO Reductus 100 150 30 to 50 COSMO GEAR SE 200 320 460 BONNOC SP 200 to 460 DIAMOND GEAR LUBE SP 220 to 460 DAPHNE CE 220S to 460S GENERAL SP GEAROL 200 to 260 Omala Oils 200 to 460 SPARTANEP 220 to 460 Mobilgear 630 to 634 ISO VG 220 to 460 JOMO Reductus 200 to 460 Lubricating oil fill amount Fill amou...

Page 232: ...d For shape refer to Section 14 9 1 Keyway a With key R Q QL QK A A HC MF23K to 73K R HC UF23K to 73K QL QK A A Q H W U S Y Section A A Unit mm Unit in Variable Dimensions Servo Motor Model S R Q W QK QL U H Y HC KFE23K 43K 14h6 14 30 1 18 27 1 06 5 0 20 20 0 79 3 0 12 3 0 12 5 0 20 M4 Depth 15 0 59 HC KFE73K 19h6 19 40 1 57 37 1 46 6 0 24 25 0 98 5 0 20 3 5 0 14 6 0 24 M5 Depth 20 0 79 b Without ...

Page 233: ...lay time S 0 04 0 1 0 03 0 1 0 03 AC off Fig a 0 12 0 12 0 08 0 12 0 12 Braking delay time Note 2 s DC off Fig s b c 0 03 0 03 0 01 0 03 0 03 J 400 4500 5 6 22 0 64 0 Per braking oz in 56683 3 637687 1 793 6 3117 6 9069 3 J 4000 45000 56 220 640 Permissible braking work Per hour oz in 566833 6376871 7936 31176 90693 Brake looseness at servo motor shaft Note 5 degrees 0 2 to 0 6 0 2 to 0 6 0 19 to ...

Page 234: ...ation 6 1 The effect of the load torque is greater near the stopping area When the load torque is large the servo motor will stop faster than the value obtained in the equation Emergency stop Brake current Machine speed V0 t1 t2 t3 L max 60 Vo t1 t2 2 t3 6 1 Where L max Maximum coasting distance mm Vo Machine s fast feed speed mm min t1 Delay time of control section s t2 Braking delay time of brak...

Page 235: ...tor Vibration Measuring Conditions 14 7 3 Machine Accuracies The following table indicates the machine accuracies of the servo motor around the output shaft and mounting except the optional products Flange Size Accuracy mm Measuring Position Less than 100 100 130 176 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 s...

Page 236: ...3m TUV plate Arrow A Bottom Top Bottom Note The dimensions without tolerances are reference dimensions 96 5 21 5 44 5 45 Note Unit mm Top Bottom Variable Dimensions Model Output W L KL Inertia Moment J 10 4 kg m2 Weight kg HC KFE23 200 99 5 49 1 0 42 0 99 HC KFE 43 400 124 5 72 1 0 67 1 45 Note Unit mm 20 5557 04R 210 Receptacle 5556PBTL Female terminal With connector 1 172169 9 AMP Arrow A 42 8 B...

Page 237: ...3m TUV plate Arrow A Top Bottom 2 7 Top Bottom 45 2 With electromagnetic brake Model Output W Braking Force N m Inertia Moment J 10 4 kg m2 Weight kg HC KFE13B 100 0 32 0 087 0 89 BC24193 Note The dimensions without tolerances are reference dimensions Note Unit mm 20 5557 06R 210 Receptacle 5556PBTL Female terminal With connector 1 172169 9 AMP Arrow A 35 7 Bottom Top Protective tube Motor plate O...

Page 238: ...Insulock Brake lead 2 0 3 0 3m 2 45 Power supply connector pin connection list 1 2 3 4 Pin No Application Phase U Phase V Phase W Earth 5 6 B1 B2 Model Output W Braking Force N m Inertia Moment J 10 4 kg m2 Weight kg HC KFE73B 750 2 4 1 635 4 0 Note Unit mm 20 5557 06R 210 Receptacle 5556PBTL Female terminal With connector 1 172169 9 AMP Arrow A 58 1 Bottom Top Protective tube Motor plate Opposite...

Page 239: ...5 Note The dimensions without tolerances are reference dimensions Caution plate TUV plate Bottom Top Bottom Top Bottom Top 110h7 24h6 KL 165 4 9 mounting hole Use hexagon socket head cap screw V Model Output kW Inertia Moment J 10 4 kg m2 Weight kg HC SFE202 2 0 42 6 12 5 BC25012 V U 68 5 21 93 70 175 5 79 18 3 75 46 142 S40608B MS3102A20 29P CE05 2A24 10P Encoder connector Power supply connector ...

Page 240: ... W Caution plate TUV plate Bottom Top Bottom Top Brake 4 9 mounting hole Use hexagon socket head cap screw 110h7 24h6 45 Model Output kW Braking Force N m Inertia Moment J 10 4 kg m2 Weight kg HC SFE202B 2 0 43 1 52 6 18 5 BC25013 68 5 21 93 70 223 5 79 18 3 142 99 5 Bottom Top Power supply connector CE05 2A24 10P Note Unit mm Motor plate Opposite side MS3102A20 29P Encoder connector Brake connect...

Page 241: ... Top 0 984 0 098 0 197 1 59 0 268 0 39 0 992 1 65 1 13 2 0 177 Power supply lead 4 AWG19 11 8 in TUV plate Arrow A Bottom Top Bottom 3 70 0 846 1 75 45 Unit in Top Bottom Variable Dimensions in Model Output W L KL Inertia Moment WK2 oz in2 Weight lb HC KFE23 200 3 92 1 93 2 296 2 183 HC KFE43 400 4 90 2 84 3 663 3 197 Unit in 0 737 5557 04R 210 Receptacle 5556PBTL Female terminal With connector 1 ...

Page 242: ... plate Arrow A Top Bottom 0 106 Top Bottom 45 2 287 2 With electromagnetic brake Model Output W Braking Force oz in Inertia Moment WK2 oz in2 Weight lb HC KFE13B 100 45 316 0 476 1 962 BC24193 Unit in 0 787 5557 06R 210 Receptacle 5556PBTL Female terminal With connector 1 172169 9 AMP Arrow A 1 406 Bottom Top Protective tube Motor plate Opposite side 1 181 1 811 1 575 0 315 Power supply connector ...

Page 243: ...sulock Brake lead 2 0 3 11 8 in 2 45 Power supply connector pin connection list 1 2 3 4 Pin No Application Phase U Phase V Phase W Earth 5 6 B1 B2 Model Output W Braking Force oz in Inertia Moment WK2 oz in2 Weight lb HC KFE73B 750 339 869 8 939 8 818 4 0 260 Unit in 0 787 5557 06R 210 Receptacle 5556PBTL Female terminal With connector 1 172169 9 AMP Arrow A 2 287 Bottom Top Protective tube Motor ...

Page 244: ...yout CE05 2A22 23P Unit in Motor plate Opposite side Bottom Top 5 118 5 7 0 9 Caution plate TUV plate Bottom Top Bottom Top Bottom Top 4 331 0 945 KL 6 496 4 0 354 mounting hole Use hexagon socket head cap screw V Model Output kW Inertia Moment WK2 oz in2 Weight lb HC SFE202 2 0 232 913 27 558 BC25012 V U 2 736 0 77 3 21 2 756 6 909 3 11 0 71 0 12 2 95 1 81 5 59 S40608B MS3102A20 29P CE05 2A24 10P...

Page 245: ...5 7 0 9 6 496 W Caution plate TUV plate Bottom Top Bottom Top Brake 4 0 354 mounting hole Use hexagon socket head cap screw 4 331 0 945 3 21 45 Model Output kW Braking Force oz in Inertia Moment WK2 oz in2 Weight lb HC SFE202B 2 0 6103 49 287 588 40 785 BC25013 2 697 0 77 3 21 2 756 8 799 174 165 0 71 0 12 5 59 3 917 Bottom Top Power supply connector CE05 2A24 10P Unit in Motor plate Opposite side...

Page 246: ...ernal 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 247: ... E2 I F Servo amplifier Analog monitor 2 channels Current detection Model speed control Actual speed control Current control Model speed Model torque Virtual motor Virtual encoder CN2 U V W U V W SM E1 Note 1 Fan MR E 200AG only RS 232C D A Note 3 Note 3 Note 3 A D Analog 2 channels Note3 D I O control Servo On Start Failure etc Note 1 The built in regenerative brake resistor is not provided for t...

Page 248: ...al 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 or less power fluctuation 10 0 2 max ambient temperature 25 10 for external speed setting only Speed control mode Torque limit Set by parameter setting or external analog input 0 to 10VDC maximum torque Analog torque command input 0 to 8VDC Maximum torque input...

Page 249: ...Used to perform status display diagnostic alarm and parameter setting operations Chapter6 Communication connector CN3 Used to connect a command device RS 232C and output analog monitor data I O signal connector CN1 Used to connect digital I O signals Section3 3 Encoder connector CN2 Connector for connection of the servo motor encoder Section3 3 Section13 1 2 Charge lamp Lit to indicate that the ma...

Page 250: ...nitor data Section3 3 Section13 1 2 Chapter14 I O signal connector CN1 Used to connect digital I O signals Section15 2 Name plate Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Connector for connection of the servo motor encoder Section1 5 Section3 3 Section13 1 2 Motor power supply connector CNP2 Used to connec...

Page 251: ...E terminal Servo motor Personal computer Servo amplifier Regenerative option Options and auxiliary equipment No fuse breaker Magnetic contactor Servo configuration software Regenerative option Refer to Section 13 2 2 Section 13 2 2 Section 13 1 4 Section 13 1 1 Note 1 Encoder cable Options and auxiliary equipment Refer to Cables Section 13 2 1 Command device Note 1 Power supply lead Power factor i...

Page 252: ...re Regenerative option Refer to Section 13 2 2 Section 13 2 2 Section 13 1 4 Section 13 1 1 Options and auxiliary equipment Refer to Cables Section 13 2 1 Power factor improving reactor Section 13 2 3 Power factor improving reactor FR BAL 3 phase 200V to 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC To CN2 To CN1 To CN3 Servo amplifier Regenerative option Personal computer ...

Page 253: ...d Ready 13 SG Plate External power supply 24VDC Note 10 2m 6 5ft or less Plate 14 SD LG 26 VC 2 TLA Upper limit setting Upper limit setting CN1 Note 8 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Note 8 MO2 Note 3 5 Emergency stop Servo on Forward rotation start Reverse rotation start Note 5 Forwar...

Page 254: ...alled 4 The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA supply interface power from external Refer to Section 3 6 2 5 When starting operation always connect the emergency stop signal EMG and forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts 6 Trouble ALM is connected with COM in normal alarm free condition 7 When connecti...

Page 255: ...ction Note 7 Monitor output Max 1mA Reading in both directions Use external power supply 15VDC 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...

Page 256: ...ode T RD RD 11 ST2 ST1 EMG LSP LSN SG EMG SG RS2 SD SD S 13 Servo amplifier CN1 CN1 Note SON SON 4 3 8 6 7 RS1 5 Case S T SA 10 ALM ALM 9 ZSP ZSP 12 15 16 18 17 20 21 19 LA LAR LBR LB LZR OP LZ Note CN1 4 MO1 6 2 MO2 TXD CN3 1 RXD 3 LG PE LG 14 External power supply 24VDC VIN VIN 1 Case SD S T VC VLA TLA TC LG LG 26 2 14 Note Note S Speed control mode T Torque control mode Approx 4 7k Approx 4 7k ...

Page 257: ... CN2 CNP2 CNP1 L3L2L1 D C P W V U MITSUBISHI MR E The connector frames are connected with the PE earth terminal inside the servo amplifier P5 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 ...

Page 258: ... Related 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...

Page 259: ...hort LSP SG and or LSN SG 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 Note Input signals Operation LSP LSN CCW direction CW direction 1 1 Forward rotation stroke end LSP CN1 6 0 1 1 0 0 0 Note 0 LSP LSN SG off open 1 SP LSN SG on short Set parameter No 41 as indicated below to switch on the signals keep ...

Page 260: ...P1 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 DI 1 Note Input signals Speed selection 2 SP2 SP3 SP2 SP1 Speed command DI 1 Speed selection 3 SP3 0 0 0 Analog speed command VC DI 1 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 ...

Page 261: ...oss TLA LG Connect the positive terminal of the power supply to TLA Maximum torque is generated at 10V Refer to 1 a in Section 15 2 5 Resolution 10bit Analog input Analog torque command TC CN1 2 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 2 a in Section 15 2 5 The torque at 8V input can be changed using ...

Page 262: ... 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 Refer to 2 in Section 3 3 2 DO 1 Ready RD CN1 11 DO 1 Zero speed ZSP CN1 12 DO 1 Electromagnetic brake interlock MBR CN1 12 DO 1 Warning WNG DO 1 Alarm code ACD0 ACD1 ACD2 DO 1 Encoder Z phase pulse Open collector OP CN1 21 DO 2 Encoder A phase pulse Differential line driver LA LAR CN1 15...

Page 263: ...ated speed Forward rotation CCW Reverse rotation CW The following table indicates the rotation direction according to forward rotation start ST1 and reverse rotation start ST2 combination Note External input signals 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 C...

Page 264: ...arameter 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 SG off open 1 SP1 SP2 SP3 SG 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 ...

Page 265: ...ltage of 0 05V or more 2k 2k Servo amplifier Japan resistor RRS10 or equivalent TL SG P15R TLA LG SD 100 0 0 10 5 0 05 Torque limit value TLA application voltage vs torque limit value TLA application voltage V 2 Torque limit value selection Use parameters No 43 through 48 to enable external torque limit TL and internal torque limit Torque limit values can be selected as shown in the following tabl...

Page 266: ...e to the 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 ...

Page 267: ...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 m greater than the desired speed limit value 10 0 10 Rated speed Speed r min CCW direction CW d...

Page 268: ...e 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 the internal speed limits 1 to 7 ar...

Page 269: ...rol mode may be changed at any time A change timing chart is shown below 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 deceleration time constant 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 r...

Page 270: ... in two second later shows data 2 Test operation Using jog operation in the test operation mode make sure that the servo motor operates 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 for the parameter definitions and to Sections 6 5 for the setting method Parameter No Name Setting Description 0 Control m...

Page 271: ...rovided by setting the response level appropriate for the machine in parameter No 2 Refer to chapter 7 6 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to Section 3 9 2 for the servo motor equipped with electromagnetic brake Note that simultaneous ON or simultaneous OFF of stroke end LSP LSN OFF and forward rotation start ST1 o...

Page 272: ...ion time constant 1000 Set 1000ms 12 Deceleration time constant 500 Set 500ms 13 S pattern acceleration deceleration time constant 0 Not used 14 Torque command time constant 2000 Set 2000ms 28 Internal torque limit 1 50 Controlled to 50 output 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 t...

Page 273: ...coasts b Alarm occurrence 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 occurs d Simultaneous ON or simultaneous OFF of forward rotation selection RS1 and reverse rotation select...

Page 274: ...unction 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 S...

Page 275: ...ensation S 48 ms 39 VDC Speed differential compensation P 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 selec...

Page 276: ...ernal 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...

Page 277: ... 0 100W 1 200W 2 400W 3 500W 4 750W 5 1kW 6 1 5kW 7 2kW POINT Wrong setting may cause the regenerative brake option to burn If the regenerative brake 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 T Basic parameters 1 OP1 Function selection 1 Used to select the ...

Page 278: ...0Hz 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 tuning 0 0 0105 Refer ...

Page 279: ... servo 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 sm...

Page 280: ...r is set to two or more stations normal communication cannot be made 0 sta tion 0 to 31 S T Basic parameters 16 BPS Serial communication function selection alarm history clear Used to select the serial communication baudrate select various communication conditions and clear the alarm history Serial baudrate selection 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps Alarm history clear 0 Invalid 1 Va...

Page 281: ...play selection Used to select the status display shown at power on 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 Instantaneous torque B Within one revolution position low C Within one revolution position high D Load inertia moment ratio ...

Page 282: ... the parameters 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 paramet...

Page 283: ... has return ed to normal the servo motor can be restarted by merely switching on the start signal without resett ing the alarm Restart after instantaneous power failure Stop time servo lock selection The shaft can be servo locked to remain still at a stop in the internal speed control mode 0 Valid 1 Invalid Slight vibration suppression control Made valid when auto tuning selection is set to 0400 i...

Page 284: ...No Not output 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 Don t change this value by anymeans 0 24 ZSP Zero speed Used to set the output range of the zero speed ZSP 50 r min 0 to 10000 S T 0 Analog speed command maximum speed Used to set...

Page 285: ...nternal 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...

Page 286: ...esponse 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 l...

Page 287: ...in servo 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 chan...

Page 288: ...ls that 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 ...

Page 289: ...ble signals 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 c...

Page 290: ...mn S T 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 paramete...

Page 291: ...ommunication time out 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 Note 0 off 1 on Setting of warning WNG output Select the connector pin to output w...

Page 292: ...ction 0 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...

Page 293: ...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 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 Mach...

Page 294: ... vibration 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 ...

Page 295: ...e 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 S 68 For manufacturer setting Don t change this value by any means 0 69 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...

Page 296: ...Expansion parameters 2 84 For manufacturer setting Don t change this value by any means 0000 15 5 Display and operation POINT For the alarm mode parameter mode output signal DO forcible output and test operation mode refer to Chapter 6 15 5 1 Display flowchart Use the display 5 digit 7 segment LED on the front panel of the servo amplifier for status display parameter setting etc Set the parameters...

Page 297: ...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 No 48 Parameter No 49 Note Note The initial status display at power on depends on the control mode Speed control mode Servo Motor speed r Torque control mode Torque command voltage U Also parameter No 18 can be used ...

Page 298: ... ratio L The ratio 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 i...

Page 299: ... 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 control mode as follows Control mode Speed Speed torque Torque Status display at power on Servo motor speed Servo motor speed analog torque command voltage Analog torque command voltage ...

Page 300: ...t 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 servo configuration softwa...

Page 301: ...Motor series Press the SET button to show the motor series ID of the servo motor currently connected Motor type Press the SET button to show the motor type ID of the servo motor currently connected Encoder Press the SET button to show the encoder ID of the servo motor currently connected ...

Page 302: ...ignals Output 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...

Page 303: ...Zero speed 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 ...

Page 304: ...r is not 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...

Page 305: ...h on servo 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 inpu...

Page 306: ...in 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 error AL 30 0 1 0 Regenerative error Not...

Page 307: ...15 62 15 MR E AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT MEMO ...

Page 308: ... is changed Section 5 1 2 2 Initial setting of parameter No 0 is examined and note is deleted Paragraph for third digit of parameter No 20 is added TLC VLC output selection of parameter No 22 is added Paragraph is added to parameter No 42 Body of description is added to parameters No 43 to 48 Description of setting of first digit of parameter No 49 is changed Section 10 2 1 Name of AL E9 is change...

Page 309: ...Print data Manual number Revision Mar 2003 SH NA 030031 B Chapter 14 Point is deleted Section 14 2 Rating plate is changed Section 14 7 3 Added Chapter 15 Added ...

Page 310: ... OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 SH NA 030031 B 0303 MEE Printed in Japan Specifications subject to change without notice This Instruction Manual uses recycled paper MODEL MODEL CODE ...

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