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Mitsubishi MR-JE-100B, Instruction Manual

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Mitsubishi MR-JE-100B Instruction Manual Download Page 263

12. ABSOLUTE POSITION DETECTION SYSTEM 

12 -  2 

 
12.1.2 Configuration 

The following shows a configuration of the absolute position detection system. Refer to section 11.5 for the 
connection of the battery. 

Servo system controller

Servo amplifier

CN1A

Servo motor

CN2

Battery

CN4

 

12.1.3 Parameter setting 

Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system. 

Absolute position detection system selection

0: Disabled (used in incremental system)
1: Enabled (used in absolute position detection system)

[Pr. PA03]

1

 

12.1.4 Confirmation of absolute position detection data 

You can check the absolute position data with MR Configurator2. Choose "Monitor" and "ABS Data Display" 
to open the absolute position data display screen. 

 

 

Summary of Contents for MR-JE-100B

Page 1: ...nstruction Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR JE _B SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR JE _B SERVO AMPLIF...

Page 2: ...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...

Page 3: ...a magnetic contactor is not connected continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions Always connect a molded case circuit breaker or a fuse to each...

Page 4: ...occur When you keep or use the equipment please fulfill the following environment Item Environment Ambient temperature Operation 0 C to 55 C non freezing Storage 20 C to 65 C non freezing Ambient humi...

Page 5: ...ing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signa...

Page 6: ...correct combination Otherwise an electric shock fire injury etc may occur The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking...

Page 7: ...enance inspection and parts replacement CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency s...

Page 8: ...ruction Manual and the following manuals to use this servo Ensure to prepare them to use the servo safely Relevant manuals Manual name Manual No MELSERVO JE Servo Amplifier Instruction Manual Troubles...

Page 9: ...A 8 MEMO...

Page 10: ...d up to 2000 m above sea level 2 8 3 SIGNALS AND WIRING 3 1 to 3 44 3 1 Input power supply circuit 3 2 3 2 I O signal connection example 3 11 3 2 1 For sink I O interface 3 11 3 2 2 For source I O int...

Page 11: ...controller 4 14 5 PARAMETERS 5 1 to 5 40 5 1 Parameter list 5 1 5 1 1 Basic setting parameters Pr PA_ _ 5 2 5 1 2 Gain filter setting parameters Pr PB_ _ 5 3 5 1 3 Extension setting parameters Pr PC_...

Page 12: ...7 13 7 2 2 Function block diagram 7 14 7 2 3 Parameter 7 15 7 2 4 Gain switching procedure 7 18 7 3 Tough drive function 7 22 7 3 1 Vibration tough drive function 7 22 7 3 2 Instantaneous power failur...

Page 13: ...le of wires 11 33 11 7 Molded case circuit breakers fuses magnetic contactors 11 34 11 8 Power factor improving AC reactor 11 35 11 9 Relay recommended 11 36 11 10 Noise reduction techniques 11 37 11...

Page 14: ...n with MR J4 _B servo amplifier and MR J4W _B servo amplifier App 18 App 9 Optional data monitor function App 19 App 10 Using the neutral point of a 3 phase 400 V AC class power supply for inputting a...

Page 15: ...6 MEMO...

Page 16: ...and from a controller to drive a servo motor SSCNET III H achieves high speed communication of 150 Mbps full duplex with high noise tolerance due to the SSCNET III optical cables Large amounts of data...

Page 17: ...otor Dynamic brake circuit Current detection Overcurrent protection Voltage detection Base amplifier Diode stack Relay Note 1 Control circuit power CHARGE lamp Regene rative TR Current detector Regene...

Page 18: ...rcurrent protection Voltage detection Base amplifier Diode stack Relay Control circuit power CHARGE lamp Regene rative TR Current detector Regenerative option Personal computer Servo system controller...

Page 19: ...ive protection Compliance with global standards CE marking LVD EN 61800 5 1 EMC EN 61800 3 UL standard UL 508C Structure IP rating Natural cooling open IP20 Force cooling open IP20 Close mounting Note...

Page 20: ...SN52_ MR JE 100B HG SN102_ MR JE 200B HG SN152_ HG SN202_ MR JE 300B HG SN302_ 1 4 2 Compatible controller For the simple motion module refer to the user s manual of each series 1 Simple motion module...

Page 21: ...on 7 1 2 Low pass filter This function suppresses high frequency resonance which occurs as servo system response is increased Section 7 1 4 Machine analyzer function This function analyzes the frequen...

Page 22: ...ers are displayed on MR Configurator2 Since the servo amplifier sends data to a servo system controller you can analyze the data and display the data on a display with the SSCNET III H system Machine...

Page 23: ...x Surrounding Air Temp 55 C IP20 100W 3AC 200 240V 0 9A 1 5A 50 60Hz 3PH170V 0 360Hz 1 1A MSIP REI MEK TC300A982G51 Model Capacity Applicable power supply Rated output current Standard Manual number A...

Page 24: ...lute position data backup Chapter 12 6 Battery holder Used to house the battery for absolute position data backup 7 SSCNET III cable connector CN1A Used to connect the servo system controller or the p...

Page 25: ...on 3 3 6 Rating plate Section 1 6 7 Battery holder Used to house the battery for absolute position data backup Chapter 12 8 Battery connector CN4 Used to connect the battery for absolute position data...

Page 26: ...2 CN2 CN4 W V U L1 L2 L3 Note 2 Magnetic contactor MC Molded case circuit breaker MCCB R S T Note 1 Power supply CN3 CN5 CN1A CN1B Junction terminal block Servo system controller or previous servo amp...

Page 27: ...or previous servo amplifier CN1B Next servo amplifier CN1A or cap Note 1 A 1 phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR JE 200B For 1 phase 200 V AC to 240 V A...

Page 28: ...amplifier Do not block the intake and exhaust areas of the servo amplifier Otherwise it may cause a malfunction Do not drop or apply heavy impact on the servo amplifiers and the servo motors Otherwis...

Page 29: ...alfunction MR JE 40B to MR JE 100B have a regenerative resistor on their back face The regenerative resistor generates heat of 100 C higher than the ambient temperature Please fully consider heat diss...

Page 30: ...e 40 mm or more Cabinet Top Bottom 100 mm or more 1 mm 30 mm or more 40 mm or more Cabinet 1 mm Leaving clearance Mounting closely 2 Others When using heat generating equipment such as the regenerativ...

Page 31: ...as the optical fiber for MR J3BUS_M MR J3BUS_M A is made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touch the part that can become hot su...

Page 32: ...position by using cushioning such as sponge or rubber which does not contain migratable plasticizers If adhesive tape for bundling the cable is used fire resistant acetate cloth adhesive tape 570F Ter...

Page 33: ...t from the front of the servo amplifier To avoid an electric shock only qualified personnel should attempt inspections For repair and parts replacement contact your local sales office CAUTION Do not p...

Page 34: ...temperature and operating conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditioned environment ambient temperature of 40 C or less 2 Relays...

Page 35: ...temperature of 0 C to 45 C or at 75 or smaller effective load ratio Refer to section 2 1 2 Input voltage Generally a withstand voltage decreases as the altitude increases however there is no restrict...

Page 36: ...orrect terminals Otherwise a burst damage etc may occur Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output sh...

Page 37: ...er power supply If input voltage exceeds the upper limit of the specification the servo amplifier will break down The servo amplifier has a built in surge absorber varistor to reduce exogenous noise a...

Page 38: ...roller forced stop input warning state and the servo motors will decelerate to a stop The hot line forced stop function can be disabled with Pr PA27 Configure the power supply circuit which turns off...

Page 39: ...CN3 connector set Pr PD08 or Pr PD09 to _ _ 0 3 6 Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier 7 Connecting a servo motor of...

Page 40: ...the power supply circuit which turns off magnetic contactors of all servo amplifiers after detection of alarm occurrence on the controller side at alarm occurrence Connect the 1 phase 200 V AC to 240...

Page 41: ...CN3 connector set Pr PD08 or Pr PD09 to _ _ 0 3 6 Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier 7 Connecting a servo motor of...

Page 42: ...1 Controller forced stop input warning state and the servo motors will decelerate to a stop The hot line forced stop function can be disabled with Pr PA27 Configure the power supply circuit which tur...

Page 43: ...or set Pr PD08 or Pr PD09 to _ _ 0 3 6 Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier 7 Connecting a servo motor of the wrong...

Page 44: ...power supply circuit which turns off magnetic contactors of all servo amplifiers after detection of alarm occurrence on the controller side at alarm occurrence Connect the 1 phase 200 V AC to 240 V AC...

Page 45: ...tor set Pr PD08 or Pr PD09 to _ _ 0 3 6 Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier 7 Connecting a servo motor of the wrong...

Page 46: ...CNET III cable option Servo system controller CN1A CN1B Note 7 Note 1 Note 9 Cap CN1A CN1B The last servo amplifier Note 8 CN1B CN1A Note 6 SSCNET III cable option Note 7 20 EM2 2 12 19 5 10 Servo amp...

Page 47: ...arlier or manufactured in China in May 2016 or earlier the total current capacity must be 100 mA or lower The current capacity 300 mA is applicable when all I O signals are used The current capacity c...

Page 48: ...SCNET III cable option Servo system controller Note 7 Note 1 Note 9 Cap The last servo amplifier Note 8 Note 6 SSCNET III cable option Note 7 20 EM2 2 12 19 5 10 Servo amplifier CN3 Note 11 CN3 Electr...

Page 49: ...uilt in regenerative resistor When using a regenerative option disconnect wires of the built in regenerative resistor from P and C Then connect wires of the regenerative option to P and C 2 MR JE 200B...

Page 50: ...section 3 1 Configure the power supply circuit that turns off the magnetic contactor after an alarm occurs on the controller side b The servo amplifier receives the servo on command within 3 s to 4 s...

Page 51: ...onnector a MR JE 10B to MR JE 100B CNP1 Servo amplifier Table 3 1 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manu facturer Size Insulator...

Page 52: ...1 5 10BK CRIMPFOX ZA3 AWG 14 AI2 5 10BU MR JE 200B to MR JE 300B AWG 16 AI1 5 10BK AI TWIN2 1 5 10BK AWG 14 AI2 5 10BU AI TWIN2 2 5 10BU AWG 12 AI4 10GY b Inserting wire Insert only one wire or ferru...

Page 53: ...T III cable for next servo amplifier axis 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DICOM DOCOM EM2 MBR 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT MDR MD CN2 CN4 Battery connector Refer to section...

Page 54: ...te the servo motor to a stop with commands Turn EM2 on short between commons in the forced stop state to reset that state Set Pr PA04 to 2 1 _ _ to disable EM2 The following shows the setting of Pr PA...

Page 55: ...Enabling servo on to make the servo amplifier ready to operate will turn on RD Speed reached SA SA will turn off during servo off When the servo motor speed reaches the following range SA will turn o...

Page 56: ...and torque control mode During tough drive MTTR When a tough drive is Enabled in Pr PA20 activating the instantaneous power failure tough drive will turn on MTTR 3 5 3 Power supply Signal name Symbol...

Page 57: ...are connected together such as a tandem structure If an alarm occurs with the forced stop deceleration function disabled the servo motor will stop with the dynamic brake 3 6 1 Forced stop deceleration...

Page 58: ...shut off delay time function The base circuit shut off delay time function is used to prevent a vertical axis from dropping at a forced stop EM2 goes off alarm occurrence or SSCNET III H communicatio...

Page 59: ...SCNET III H communication shut off occurs while the servo motor speed is zero speed or slower The base circuit shut off delay time function is enabled 1 Timing chart ON ON OFF ON EM2 Forced stop 2 Pos...

Page 60: ...2 _ _ _ initial value in Pr PA04 Disable the forced stop deceleration function for a machine in which multiple axes are connected together such as a tandem structure If an alarm occurs with the force...

Page 61: ...e communication shut off status MBR Electromagnetic brake interlock ON OFF ON no alarm OFF alarm Base circuit Energy supply to the servo motor ON OFF Servo amplifier display 0 r min Servo motor speed...

Page 62: ...ifiers will be in the AL E7 1 Controller forced stop input warning state and will be stopped safely Also the function can be disabled with a parameter 2 Parameter setting The hot line forced stop func...

Page 63: ...ommand from the controller No alarm 0 r min 0 r min 0 r min Input power supply Servo amplifier display The first axis servo amplifier Servo motor speed 3 5 ms communication cycle Hot line alarm signal...

Page 64: ...Hot line alarm signal from the servo amplifier in which an alarm occurred Hot line forced stop signal from the controller Power on duration Stop with dynamic brake Deceleration to a stop Deceleration...

Page 65: ...ifier whose power is turned off Hot line forced stop signal from the controller Power on duration Stop with dynamic brake Deceleration to a stop No alarm Blank AA No alarm ON OFF ON OFF ON OFF ON OFF...

Page 66: ...hen the power supply is off No alarm 0 r min 0 r min 0 r min Input power supply Servo amplifier display The first axis servo amplifier Servo motor speed Hot line alarm signal from the servo amplifier...

Page 67: ...namic brake Deceleration to a stop Power off of the servo amplifier in which an alarm occurred No alarm Blank AA Alarm No No alarm Alarm occurrence ON OFF ON OFF ON OFF ON OFF Input power supply Servo...

Page 68: ...ote 3 Note 3 Note 3 Note 3 Note 3 Note 1 This diagram shows sink I O interface For source I O interface refer to section 3 8 3 2 The illustration of the 24 V DC power supply is divided between input s...

Page 69: ...2 Digital output interface DO 1 This is a circuit in which the collector of the output transistor is the output terminal When the output transistor is turned on the current will flow to the collector...

Page 70: ...in May 2016 or earlier the value 100 mA is applicable 2 Digital output interface DO 1 This is a circuit in which the emitter of the output transistor is the output terminal When the output transistor...

Page 71: ...CN1B CN1A SSCNET III cable Controller The first axis servo amplifier CN1B CN1A SSCNET III cable SSCNET III cable 2 How to connect disconnect cable POINT The CN1A and CN1B connectors are capped to pro...

Page 72: ...e of the optical cord tip is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol Click Tab Ser...

Page 73: ...ively for the electromagnetic brake Otherwise it may cause a malfunction When using EM2 Forced stop 2 use MBR Electromagnetic brake interlock for operating the electromagnetic brake Operating the elec...

Page 74: ...h the emergency stop switch 2 Do not use the 24 V DC interface power supply for the electromagnetic brake 3 Create the circuit in order to shut off by interlocking with an alarm detected by the contro...

Page 75: ...N OFF 0 r min Base circuit Servo motor speed Coasting Operation delay time of the electromagnetic brake Ready on command from controller ON OFF Release Activate Operation command from controller Elect...

Page 76: ...c brake is not activated OFF The electromagnetic brake is activated 2 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor c Alar...

Page 77: ...is the same as 1 a in this section b Off on of the forced stop command from controller or EM1 Forced stop 1 Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake MBR Electromagnetic...

Page 78: ...ervo amplifier may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive...

Page 79: ...3 SIGNALS AND WIRING 3 44 MEMO...

Page 80: ...arameters Improper settings may cause some machines to operate unexpectedly The servo amplifier heat sink regenerative resistor servo motor etc may be hot while the power is on and for some time after...

Page 81: ...r Refer to section 4 1 3 Confirm that the control axis No set with the axis selection rotary switch SW1 and the control axis No set with the servo system controller are consistent Refer to section 4 3...

Page 82: ...connected to the PE terminal of the servo amplifier Servo amplifier Servo motor M 4 The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the e...

Page 83: ...ltage exceeding 24 V DC is not applied to the pins of the CN3 connector c The wire between the plate and DOCOM of the CN3 connector should not be shorted Servo amplifier DOCOM Plate CN3 4 1 3 Surround...

Page 84: ...r setting POINT The following encoder cables are of four wire type When using any of these encoder cables set Pr PC04 to 1 _ _ _ to select the four wire type An incorrect setting will result in AL 16...

Page 85: ...of EM1 in the torque control mode Note Only a list of alarms and warnings is listed in chapter 8 Refer to MELSERVO JE Servo Amplifier Instruction Manual Troubleshooting for details of alarms and warn...

Page 86: ...axes may be set independently of the SSCNET III cable connection sequence Table 4 1 shows control axis numbers corresponding to the axis selection rotary switch to set the control axis number 8 7 6 5...

Page 87: ...icates ready on and servo on status Status After 1 6 s Blank After 0 2 s 2 Alarm display When an alarm occurs the alarm number two digits and the alarm detail one digit are displayed following the sta...

Page 88: ...off Ready on and servo on Note Note Note When an alarm No or warning No is displayed Axis No 1 Axis No 2 Axis No 16 Initial data communication with the servo system controller initialization communica...

Page 89: ...rvo system controller A F Initializing During initial signal data communication with the servo system controller A H Initializing completion The process for initial data communication with the servo s...

Page 90: ...If the machine does not operate in the intended direction check the input signal In this step connect the servo motor with the machine and confirm that the machine operates normally under the command...

Page 91: ...the servo is on or off and whether the servo system controller is connected or not Exercise control on the JOG operation screen of MR Configurator2 1 Operation pattern Item Initial value Setting rang...

Page 92: ...ion method Operation Screen control Forward rotation start Click Forward CCW Reverse rotation start Click Reverse CW Pause Click Pause Stop Click Stop Forced stop Click Forced Stop c Program operation...

Page 93: ...tem controller before the motor less operation 1 Motor less operation Without connecting a servo motor to the servo amplifier output signals or status displays can be provided in response to the servo...

Page 94: ...itial communication error 3 AL 20 Encoder normal communication error 1 AL 21 Encoder normal communication error 2 AL 25 Absolute position erased AL 92 Battery cable disconnection warning AL 9F Battery...

Page 95: ...4 STARTUP 4 16 MEMO...

Page 96: ...and their ranges may not be configured depending on the servo system controller model servo amplifier software version and MR Configurator2 software version For details refer to the servo system contr...

Page 97: ...1000 0 PA12 1000 0 PA13 0000h PA14 POL Rotation direction selection 0 PA15 For manufacturer setting 0 PA16 0 PA17 0000h PA18 0000h PA19 BLK Parameter writing inhibit 00AAh PA20 TDS Tough drive setting...

Page 98: ...ession control 1 Resonance frequency 100 0 Hz PB21 VRF13 Vibration suppression control 1 Vibration frequency damping 0 00 PB22 VRF14 Vibration suppression control 1 Resonance frequency damping 0 00 PB...

Page 99: ...er gain switching 0 0 Hz PB58 VRF23B Vibration suppression control 2 Vibration frequency damping after gain switching 0 00 PB59 VRF24B Vibration suppression control 2 Resonance frequency damping after...

Page 100: ...PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 0 0001 rev PC32 For manufacturer setting 0000h PC33 0 PC34 100 PC35 0000h PC36 0000h PC37 0000h PC38 ERW Error excessive warning lev...

Page 101: ...n 3 0000h PD10 For manufacturer setting 0000h PD11 DIF Input filter setting Note 0004h PD12 For manufacturer setting 0000h PD13 DOP2 Function selection D 2 0000h PD14 DOP3 Function selection D 3 0000h...

Page 102: ...0h PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 0 PE35 0 PE36 0 0 PE37 0 00 PE38 0 00 PE39 0 PE40 0000h PE41 EOP3 Function selection E 3 0000h PE42 For manufacturer setting 0 PE43 0 0 PE44 LMCP Lo...

Page 103: ...n selection F 5 0003h PF07 For manufacturer setting 0000h PF08 0000h PF09 0 PF10 0 PF11 0 PF12 DBT Electronic dynamic brake operating time 2000 ms PF13 For manufacturer setting 0000h PF14 10 PF15 0000...

Page 104: ...achine diagnosis function Friction judgment speed 0 r min PF32 For manufacturer setting 50 PF33 0000h PF34 0000h PF35 0000h PF36 0000h PF37 0000h PF38 0000h PF39 0000h PF40 0000h PF41 0000h PF42 0000h...

Page 105: ...selection 00 No regenerative option is used For a servo amplifier of 200 W or less no regenerative resistor is used For a servo amplifier of 0 4 kW to 3 kW a built in regenerative resistor is used 02...

Page 106: ...top deceleration function enabled EM2 is used Refer to table 5 1 for details 2h Table 5 1 Deceleration method Setting value EM2 EM1 Deceleration method EM2 or EM1 is off The controller forced stop is...

Page 107: ...selection Setting value Gain adjustment mode Automatically adjusted parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Pr PB06 Load to motor inertia ratio Pr PB08 Position loop gain Pr PB0...

Page 108: ...6 11 3 26 121 7 7 12 7 27 137 1 8 14 3 28 154 4 9 16 1 29 173 9 10 18 1 30 195 9 11 20 4 31 220 6 12 23 0 32 248 5 13 25 9 33 279 9 14 29 2 34 315 3 15 32 9 35 355 1 16 37 0 36 400 0 17 41 7 37 446 6...

Page 109: ...he Name and function column Table 5 3 Pr PA19 setting value and reading writing range PA19 Setting operation PA PB PC PD PE PF Other than below Reading Writing 000Ah Reading Only 19 Writing Only 19 00...

Page 110: ...tion 7 3 for details 0h _ x _ _ Instantaneous power failure tough drive selection 0 Disabled 1 Enabled Selecting 1 avoids triggering AL 10 Undervoltage using the electrical energy charged in the capac...

Page 111: ...en AL 50 Overload 1 occurs set 5 0 0 0 To activate the drive recorder when AL 50 3 Thermal overload error 4 during operation occurs set 5 0 0 3 PA24 AOP4 Function selection A 4 Refer to the Name and f...

Page 112: ...you to set a longer time in Pr PF25 Instantaneous power failure tough drive Detection time The torque limit function at instantaneous power failure is enabled when instantaneous power failure tough d...

Page 113: ...mn Setting digit Explanation Initial value _ _ _ x Vibration suppression control 1 tuning mode selection Select the tuning mode of the vibration suppression control 1 0 Disabled 1 Automatic setting 2...

Page 114: ...c setting _ _ _ 2 Auto tuning mode 2 _ _ _ 3 Manual mode Manual setting _ _ _ 4 2 gain adjustment mode 2 PB08 PG2 Position loop gain Set the gain of the position loop Set this parameter to increase th...

Page 115: ...et forms of the machine resonance suppression filter 1 When Filter tuning mode selection is set to Automatic setting _ _ _ 1 in Pr PB01 this parameter will be adjusted automatically by adaptive tuning...

Page 116: ...Shaft resonance suppression filter setting frequency selection Set the shaft resonance suppression filter Refer to table 5 4 for settings Set the value closest to the frequency you need 00h _ x _ _ N...

Page 117: ...0 PB21 VRF13 Vibration suppression control 1 Vibration frequency damping Set a damping of the vibration frequency for the vibration suppression control 1 to suppress low frequency machine vibration W...

Page 118: ...ontrol is possible with commands of the servo system controller 3 Continuous PID control enabled If the servo motor at a stop is rotated even for a pulse due to any external factor it generates torque...

Page 119: ...PB26 The set value unit differs depending on the switching condition item Refer to section 7 2 3 10 kpulse s pulse r min 0 to 65535 PB28 CDT Gain switching time constant Set the time constant until t...

Page 120: ...the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode _ _ _ 3 Vibration suppression control 1 tuning mode selection in Pr PB02 is Manual setting _ _ _ 2 Gain...

Page 121: ...11 7 _ _ 0 9 250 _ _ 2 9 45 _ _ 4 9 11 3 _ _ 0 A 225 _ _ 2 A 43 _ _ 4 A 10 8 _ _ 0 B 204 _ _ 2 B 41 _ _ 4 B 10 4 _ _ 0 C 187 _ _ 2 C 40 _ _ 4 C 10 _ _ 0 D 173 _ _ 2 D 38 _ _ 4 D 9 7 _ _ 0 E 160 _ _ 2...

Page 122: ...sion filter 4 Set the notch frequency of the machine resonance suppression filter 4 To enable the setting value select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 45...

Page 123: ...e this setting select 3 inertia mode _ _ _ 1 of Vibration suppression mode selection in Pr PA24 When Vibration suppression control 2 tuning mode selection is set to Automatic setting _ _ 1 _ in Pr PB0...

Page 124: ...er gain switching Set a damping of the vibration frequency for the vibration suppression control 2 for when the gain switching is enabled To enable this setting select 3 inertia mode _ _ _ 1 of Vibrat...

Page 125: ...r initial communication error 1 Or AL 20 Encoder normal communication error 1 will occur 0h PC05 COP2 Function selection C 2 Set the motor less operation test operation and AL 9B Error excessive warni...

Page 126: ...g digit Explanation Initial value _ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ AL E9 1 Servo on signal on during main circuit off selection 0 Detection with ready on and servo on...

Page 127: ...r If a shorter time is set AL 52 Error excessive may occur 100 ms 0 to 20000 PC29 COPB Function selection C B Select the POL reflection at torque control Refer to the Name and function column Setting...

Page 128: ...llowing condition Pr PC38 Error excessive warning level Pr PC01 Error excessive alarm level AL 52 Error excessive will occur first when you set as follows Pr PC38 Error excessive warning level Pr PC01...

Page 129: ...d the setting method are the same as in Pr PD03 Refer to the Name and function column Setting digit Explanation Initial value _ _ x x Device selection Refer to table 5 7 in Pr PD03 for settings This d...

Page 130: ...arning _ _ 0 9 BWNG Battery warning _ _ 0 A SA Speed reached _ _ 0 C ZSP Zero speed detection _ _ 0 F CDPS Variable gain selection _ _ 1 1 ABSV Absolute position undetermined _ _ 1 7 MTTR During tough...

Page 131: ...filter setting Select the input filter Refer to the Name and function column Setting digit Explanation Initial value _ _ _ x Input signal filter selection Refer to the servo system controller instruct...

Page 132: ...election of output device at warning occurrence Select the WNG Warning and ALM Malfunction output status at warning occurrence Servo amplifier output 0h Setting value Note 1 Device status 0 0 1 0 1 WN...

Page 133: ...the set time constant and the lost motion compensation will continue 0 0 1 ms 0 to 30000 PE47 TOF Torque offset Set this parameter to cancel unbalanced torque of the vertical axis Set this parameter c...

Page 134: ...set time However when 0 is set the function will be switched to the drive recorder function after 600 s When 1 is set the drive recorder function is disabled 0 s 1 to 32767 PF23 OSCL1 Vibration tough...

Page 135: ...arameter 1 s or longer before the power is cycled to enable a parameter whose symbol is preceded by or 200 ms 30 to 2000 PF31 FRIC Machine diagnosis function Friction judgment speed Set a servo motor...

Page 136: ...er The following table shows the gain adjustment modes that can be set on a single servo amplifier For gain adjustment first execute Auto tuning mode 1 If you are not satisfied with the result of the...

Page 137: ...Adjustment OK Auto tuning mode 2 No No No Adjustment OK Adjustment OK No 6 1 2 Adjustment using MR Configurator2 This section explains the functions and adjustment using the servo amplifier with MR Co...

Page 138: ...lifier command method can be used with the servo amplifier with software version C1 or later and MR Configurator2 with software version 1 45X or later When the one touch tuning is executed MR Configur...

Page 139: ...uppression control II PB20 VRF12 Vibration suppression control 1 Resonance frequency PB21 VRF13 Vibration suppression control 1 Vibration frequency damping PB06 GD2 Load to motor inertia ratio PB07 PG...

Page 140: ...nfigurator2 and select User command method Select a response mode High mode Basic mode and Low mode in the one touch tuning window of MR Configurator2 Press Start during servo motor driving to execute...

Page 141: ...uch tuning After the tuning is started the servo motor will reciprocate automatically Executing one touch tuning during servo motor rotation will cause an error After one touch tuning is executed usin...

Page 142: ...AIN ADJUSTMENT 6 7 6 2 2 Display transition and operation procedure of one touch tuning 1 Command method selection Select a command method from two methods in the one touch tuning window of MR Configu...

Page 143: ...ing less than 100 pulses will cause the one touch tuning error C004 Servo motor speed Set 150 r min or higher Setting less than 150 r min may cause the one touch tuning error C005 Acceleration time co...

Page 144: ...otor speed Servo motor speed Note Forward rotation 0 r min Reverse rotation Dwell time Note Deceleration time constant Note Travel distance Note Acceleration time constant Note Note It will be automat...

Page 145: ...onse mode from 3 modes in the one touch tuning window of MR Configurator2 Table 6 2 Response mode explanations Response mode Explanation High mode This mode is for high rigid system Basic mode This mo...

Page 146: ...sponse mode Table 6 3 Guideline for response mode Response mode Response Machine characteristic Low mode Basic mode High mode Guideline of corresponding machine Low response General machine tool conve...

Page 147: ...collision never occurs or execute the one touch tuning in a state in which the servo motor can immediately stop in emergency After the response mode is selected in 2 in this section clicking Start wil...

Page 148: ...l is performed by commands from the controller reset the controller or cycle the power During processing of one touch tuning the progress will be displayed as follows Tuning will be completed at 100 C...

Page 149: ...p of one touch tuning During one touch tuning clicking the stop button stops one touch tuning At this time C000 is displayed at status in error code After the one touch tuning is stopped parameters wi...

Page 150: ...he position control mode to the speed control mode C004 Time out 1 One cycle time during the operation has been over 30 s Set one cycle time during the operation time from the command start to the nex...

Page 151: ...ratio set the overspeed alarm detection level so that the speed becomes 150 r min or more 3 The torque limit has been set to 0 Set the torque limit value to greater than 0 C008 Stop signal EM2 was tu...

Page 152: ...eter to the initial value Refer to table 6 1 for the parameters which you can initialize Clicking Return to value before adjustment in the one touch tuning window of MR Configurator2 enables to return...

Page 153: ...controller or cycle the power of the servo amplifier d During one touch tuning the permissible travel distance may be exceeded due to overshoot set a value sufficient to prevent machine collision e W...

Page 154: ...d properly if all of the following conditions are not satisfied The acceleration deceleration time constant to reach 2000 r min is 5 s or shorter The speed is 150 r min or faster The load to motor ine...

Page 155: ...the load to motor inertia ratio or failed to estimate set Gain adjustment mode selection to Auto tuning mode 2 _ _ _ 2 in Pr PA08 to stop the estimation turning off the switch in the above diagram and...

Page 156: ...ment procedure is as follows Auto tuning adjustment Acceleration deceleration repeated Auto tuning conditions are not satisfied Estimation of load to motor inertia ratio is difficult Load to motor ine...

Page 157: ...nce may allow the response level setting to increase Refer to section 7 1 1 and 7 1 2 for settings of the adaptive tuning mode and machine resonance suppression filter Pr PA09 Setting value Machine ch...

Page 158: ...imate value with auto tuning is correct setting change is not required 4 Set a small value to the model loop gain Set a large value to the speed integral compensation 5 Increase the speed loop gain wi...

Page 159: ...er if the load to motor inertia ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guidelin...

Page 160: ...ired response cannot be achieved response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8 Suppression of...

Page 161: ...polation operation of servo motors of two or more axes for an X Y table or the like In this mode manually set the model loop gain that determines command trackability Other parameters for gain adjustm...

Page 162: ...the axis used in the 2 gain adjustment mode Step Operation Description 1 Set the auto tuning mode Select the auto tuning mode 1 2 During operation increase the response level setting value in Pr PA09...

Page 163: ...improves trackability to a position command but a too high value will make overshoot liable to occur at settling Number of droop pulses is determined by the following expression Number of droop pulse...

Page 164: ...e vibration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide If the frequency of machine resonance is unknown decrease the notch frequency fro...

Page 165: ...th one touch tuning Machine resonance suppression filter 1 PB01 PB13 PB14 The filter can be set automatically with Filter tuning mode selection in Pr PB01 PB13 PB01 PB13 PB14 Machine resonance suppres...

Page 166: ...ter 3 selection in Pr PB47 How to set the machine resonance suppression filter 3 Pr PB46 and Pr PB47 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 d Machine resonan...

Page 167: ...the manual setting Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics Adaptive tuning in the high accuracy mode is availab...

Page 168: ...In the high accuracy mode Execute or re execute adaptive tuning in the standard mode Set Pr PB01 to 0 _ _ 1 Tuning ends automatically after the predetermined period of time Pr PB01 will be _ _ _ 2 or...

Page 169: ...ing increases the response of the servo amplifier for high resonance frequency 2 Parameter Set Shaft resonance suppression filter selection in Pr PB23 Pr PB23 Shaft resonance suppression filter select...

Page 170: ...sion control II POINT The function is enabled when Gain adjustment mode selection in Pr PA08 is Auto tuning mode 2 _ _ _ 2 Manual mode _ _ _ 3 or 2 gain adjustment mode 2 _ _ _ 4 The machine resonance...

Page 171: ...e predetermined number of times For manual setting adjust the vibration suppression control 1 with Pr PB19 to Pr PB22 and vibration suppression control 2 with Pr PB52 to Pr PB55 2 Parameter Set Pr PB0...

Page 172: ...device is resolved End Yes No No Yes Increase the response setting Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Using a machine analyzer or cons...

Page 173: ...ion control Pr PB19 Pr PB52 Resonance frequency for vibration suppression control Pr PB20 Pr PB53 Vibration suppression control Vibration frequency damping Pr PB21 Pr PB54 Vibration suppression contro...

Page 174: ...eleration pickup signal etc Vibration suppression control Vibration frequency Vibration suppression control Resonance frequency Set the same value Vibration cycle Hz Vibration cycle Hz Step 3 Fine adj...

Page 175: ...Frequency Hz 00 01 02 03 0 Frequency Hz Setting value Frequency Hz 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F...

Page 176: ...The following shows when you use the function 1 You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation 2 You want to increase the gains during settling...

Page 177: ...B Pr PB29 Enabled GD2 value PG1 Pr PB07 PG1B Pr PB60 Enabled PG1 value PG2 Pr PB08 PG2B Pr PB30 Enabled PG2 value VG2 Pr PB09 VG2B Pr PB31 Enabled VG2 value VIC Pr PB10 VICB Pr PB32 Enabled VIC value...

Page 178: ...ommand from controller is enabled 2 Command frequency 3 Droop pulses 4 Servo motor speed 0 Gain switching condition 0 Gain after switching is enabled with gain switching condition or more 1 Gain after...

Page 179: ...ppression control 1 Vibration frequency damping PB21 VRF13 Vibration suppression control 1 Vibration frequency damping PB35 VRF13B Vibration suppression control 1 Vibration frequency damping after gai...

Page 180: ...f the load to motor inertia ratio does not change set it to the same value as Pr PB06 Load to motor inertia ratio d Pr PB30 Position loop gain after gain switching Pr PB31 Speed loop gain after gain s...

Page 181: ...equency damping 0 10 PB29 GD2B Load to motor inertia ratio after gain switching 10 00 Multiplier PB60 PG1B Model loop gain after gain switching 50 rad s PB30 PG2B Position loop gain after gain switchi...

Page 182: ...ibration suppression control 2 Vibration frequency damping 0 10 0 05 0 10 Vibration suppression control 2 Resonance frequency damping 0 10 0 05 0 10 2 When you choose switching by droop pulses The vib...

Page 183: ...n switching time constant is disabled a Switching time constant disabled was selected The gain switching time constant is disabled The time constant is enabled at gain return The following example sho...

Page 184: ...t is disabled at gain return The following example shows for Pr PB26 CDP 0201 Pr PB27 CDL 0 and Pr PB28 CDT 100 ms ON CDP Gain switching After switching gain Before switching gain Switching at Pr PB28...

Page 185: ...sion filter 2 should be set in advance Set Pr PB13 and Pr PB15 as follows 1 One touch tuning execution section 6 2 2 Manual setting section 5 2 2 The vibration tough drive function operates when a det...

Page 186: ...erly depending on the usage situation The shaft resonance suppression filter is enabled for the initial setting Machine resonance suppression filter 5 PB50 PB51 Enabling the robust filter disables the...

Page 187: ...ction selection at instantaneous power failure in Pr PA26 will limit torques to save electric energy when an instantaneous power failure occurs during operation and will make AL 10 Undervoltage less l...

Page 188: ...lure tough drive Power supply Bus voltage Undervoltage level 200 V DC ALM Malfunction Pr PF25 Instantaneous power failure time MTTR During tough drive MBR Electromagnetic brake interlock Base circuit...

Page 189: ...in PB10 VIC Speed integral compensation 2 Parameter setting Set Pr PB25 to _ _ _ 2 3 Restrictions The following functions are not available at model adaptive control disabled Function Explanation Forc...

Page 190: ...election Pr PE48 Select the lost motion compensation function Lost motion compensation selection 0 Lost motion compensation disabled 1 Lost motion compensation enabled 0 Unit setting of lost motion co...

Page 191: ...ged Adjust the value of Lost motion compensation timing Pr PE49 f Lost motion filter setting Pr PE46 Changing the value of this parameter is usually unnecessary When a value other than 0 0 ms is set i...

Page 192: ...n the standard setting value or the servo motor is rotating at high speed quadrant projections may occur behind the quadrant change points In this case you can suppress the quadrant projections by del...

Page 193: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 30 MEMO...

Page 194: ...rnings 2 Stop method For the alarms and warnings in which SD is written in the stop method column the servo motor stops with the dynamic brake after forced stop deceleration For the alarms and warning...

Page 195: ...ocess error 13 DB 15 Memory error 2 EEP ROM 15 1 EEP ROM error at power on DB 15 2 EEP ROM error during operation DB 15 4 Home position information read error DB 16 16 1 Encoder initial communication...

Page 196: ...ror 2 21 1 Encoder data error 1 EDB 21 2 Encoder data update error EDB 21 3 Encoder data waveform error EDB 21 5 Encoder hardware error 1 EDB 21 6 Encoder hardware error 2 EDB 21 9 Encoder data error...

Page 197: ...overload error 2 during operation SD Note 1 Note 1 Note 1 50 Overload 1 50 3 Thermal overload error 4 during operation SD Note 1 Note 1 Note 1 50 4 Thermal overload error 1 during a stop SD Note 1 Not...

Page 198: ...r serial communication character error SD 8E 4 USB communication command error serial communication command error SD 8E 5 USB communication data number error serial communication data number error SD...

Page 199: ...ing 9B 1 Excess droop pulse 1 warning 9B 3 Excess droop pulse 2 warning 9B 4 Error excessive warning during 0 torque limit 9F Battery warning 9F 1 Low battery E0 Excessive regeneration warning E0 1 Ex...

Page 200: ...constant setting range error warning F4 8 Control command input error warning F5 Simple cam function Cam data miswriting warning F5 1 Cam data Area writing time out warning F5 2 Cam data Area miswrit...

Page 201: ...8 TROUBLESHOOTING 8 8 MEMO...

Page 202: ...BAT6V1SET A Approx 80 The built in regenerative resistor lead wire is mounted only in MR JE 40B 2 9 Mass 0 8 kg L2 L3 P C U V W L1 PE Terminal CNP1 Screw size M4 Tightening torque 1 2 N m Mounting scr...

Page 203: ...CNP1 With MR BAT6V1SET A 185 Approx 80 Mass 1 5 kg L2 L3 P C U V W L1 PE Terminal CNP1 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 6 Approx 6...

Page 204: ...Mass 2 1 kg L2 L3 Note C D P U V W L1 CNP2 Terminal CNP1 Screw size M4 Tightening torque 1 2 N m PE Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 90 78 0 3 Approx 6 Approx 6 Approx 1...

Page 205: ...connector Unit mm F0 PF2D103 20 9 0 2 17 6 0 2 8 2 3 1 7 4 8 13 4 15 6 7 9 3 F0 CF2D103 S 8 2 3 1 7 4 8 13 4 15 6 7 9 3 20 9 0 2 17 6 0 2 2 SCR connector system 3M Receptacle 36210 0100PL Shell kit 3...

Page 206: ...ment on the left side area of the continuous or broken line in the graph For the system where the unbalanced torque occurs such as a vertical axis system the unbalanced torque of the machine should be...

Page 207: ...Note If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status servo lock status or in a 50 r min or lower low speed o...

Page 208: ...Table 10 1 Power supply capacity and generated loss per servo motor at rated output Servo amplifier Servo motor Note 1 Power supply capacity kVA Note 2 Servo amplifier generated heat W Area required f...

Page 209: ...cabinet Refer to table 10 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the cabinet is directly installed on an insulated wall that extra amou...

Page 210: ...sm such as an air brake or an electric mechanical stopper such as a shock absorber to reduce the shock of moving parts POINT Do not use dynamic brake for stop in a normal operation as it is the functi...

Page 211: ...op 1 Dynamic brake time constant Fig 10 3 Dynamic brake operation diagram Lmax 60 V0 JM te 1 JL 10 2 Lmax Maximum coasting distance mm V0 Machine s fast feed speed mm min JM Moment of inertia of the s...

Page 212: ..._ HG KN23_ HG KN43_ HG KN73_ 30 HG SN52_ HG SN102_ HG SN152_ HG SN202_ 24 HG SN302_ 16 10 4 Cable bending life The bending life of the cables is shown below This graph calculated values Since they are...

Page 213: ...use a 1 phase 200 V AC power supply with MR JE 10B to MR JE 200B the inrush currents will be the same Servo amplifier Inrush currents A0 P MR JE 10B MR JE 20B MR JE 40B 32 A attenuated to approx 3 A...

Page 214: ...tion or a fire POINT We recommend using HIV wires to wire the servo amplifiers options and peripheral equipment Therefore the recommended wire sizes may differ from those used for the previous servo a...

Page 215: ...acked with the servo amplifier Note To 24 V DC power supply for electromagnetic brake Servo motor Encoder connector CN5 CN2 Power connector Brake connector CNP1 Battery 9 8 Servo system controller 2 3...

Page 216: ...e length 0 15 m to 3 m Refer to section 11 1 2 Connector PF 2D103 JAE Connector PF 2D103 JAE Standard cord inside cabinet 3 SSCNET III cable MR J3BUS_M A Cable length 5 m to 20 m Refer to section 11 1...

Page 217: ...02V O Contact SPHD 001G P0 5 JST Connector 10114 3000PE Shell kit 10314 52F0 008 3M or equivalent For connection with battery unit 9 Junction battery cable MR BT6V2CBL_M Cable length 0 3 m or 1 m Refe...

Page 218: ...10 20 Standard Using standard cable outside cabinet Note MR J3BUS_M B 30 40 50 Long bending life Using long distance cable Note For cables of 30 m or shorter contact your local sales office 2 Specifi...

Page 219: ...e Protective tube Approx 100 Approx 100 Note Dimension of connector part is the same as that of MR J3BUS015M c MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table shown in...

Page 220: ...1 Standard For junction 2 MR BT6V1CBL_M a Appearance 2 1 3 Components Description 1 Cable VSVC 7 0 18 2C 2 Connector Housing PAP 02V O Contact SPHD 001G P0 5 JST 3 Connector Connector 10114 3000PE Sh...

Page 221: ...tion and regenerative power The power values in the table are resistor generated powers and not rated powers Servo amplifier Regenerative power W Built in regenerative resistor MR RB032 40 MR RB12 40...

Page 222: ...t4 t1 tpsa2 tpsd1 tpsa1 1 2 3 4 5 6 7 8 Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m Note Energy E J 1 T1 9 55 104 JL JM V tpsa1 1 TU T...

Page 223: ...change over the years and thus the inverse efficiency should have a large margin of approximately 10 Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier Subtra...

Page 224: ...ection 11 6 A built in regenerative resistor should not be mounted or removed frequently When you remount a built in regenerative resistor check the lead wires of the built in regenerative resistor fo...

Page 225: ...ooling fan Note 3 Note 1 The built in regenerative resistor is not provided for MR JE 10B and MR JE 20B 2 Configure a sequence which will switch off the magnetic contactor when abnormal heating occurs...

Page 226: ...the built in regenerative resistor from the power connector CNP1 Refer to section 3 3 3 2 b 2 Remove the wirings of the built in regenerative resistor from the closest position to the power connector...

Page 227: ...fan 1 0 m3 min or more 92 mm 92 mm 2 When the ambient temperature is higher than 55 C and the regenerative load ratio is higher than 60 in MR RB30 forcibly cool the air with a cooling fan 1 0 m3 min o...

Page 228: ...2 to 2 5 mm2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 1 1 kg 2 MR RB30 MR RB32 Unit mm 8 5 125 150 Approx 30 142 79 82 5 30 8 5 10 90...

Page 229: ...inal block P C G3 G4 Terminal screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 4 N m Mass 5 6 kg 4 MR RB032 Unit mm TE1 30 15 99 1 6 119 144 12 156 168 6 6 5 Ap...

Page 230: ...the use of the cable clamp fitting refer to section 11 10 2 c 2 Connection diagram of MR J2HBUS_M cable and junction terminal block 1 2 DOCOM 3 4 8 7 9 SD Shell Note MR J2HBUS_M 5 6 10 DICOM 11 12 MB...

Page 231: ...tion Project Create read save delete project system setting and print Parameter Parameter setting Monitor Display all I O monitor graph and ABS data display Diagnosis Alarm display alarm onset data dr...

Page 232: ...r more Laptop personal computer Intel Pentium M processor 1 7 GHz or more Memory recommended 512 MB or more for 32 bit OS 1 GB or more for 64 bit OS Free space on the hard disk 1 GB or more Communicat...

Page 233: ...the power plug of the personal computer from an AC power socket b Check that the power plug was disconnected and connect the device to the servo amplifier c Connect the power plug of the personal com...

Page 234: ...on system refer to chapter 12 11 5 1 Selection of battery Applicable batteries differ depending on servo amplifiers Select a proper battery 1 Applications of the batteries Model Name Application Built...

Page 235: ...th of manufacture of the built in MR BAT6V1 battery refer to section 11 5 4 1 Parts identification and dimensions Unit mm 27 4 Case Connector for servo amplifier 51 37 5 Mass 55 g including MR BAT6V1...

Page 236: ...ervo amplifier CAUTION The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conduct...

Page 237: ...to the CN4 connector When connecting the encoder cable to CN2 connector prevent the battery cable from being pinched b Removal procedure CAUTION Pulling out the connector of the battery without the l...

Page 238: ...BAT6V1SET A reaches the end of its life replace the MR BAT6V1 battery in the MR BAT6V1SET A Tab Cover 1 Hold the tab and open the cover 2 Replace the battery with a new MR BAT6V1 battery Projection 4...

Page 239: ...nd mounting five MR BAT6V1 batteries No battery is included in the battery case Prepare MR BAT6V1 batteries separately 1 Number of connectable servo motors One MR BT6VCASE case can hold the absolute p...

Page 240: ...vo motors in an incremental system are included as the axis numbers a When using 1 axis servo amplifier MR BT6V1CBL_M CN10 CN4 MR BT6VCASE Servo amplifier b When using up to 8 axis servo amplifiers MR...

Page 241: ...ge lamp is off or not always confirm it from the front of the servo amplifier CAUTION The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precau...

Page 242: ...Remark Battery case MR BT6VCASE 1 MR BT6VCASE is a case used for connecting and mounting five MR BAT6V1 batteries Battery MR BAT6V1 5 Lithium battery primary battery nominal 6 V 2 Disassembly and ass...

Page 243: ...lly in the incorrect direction the connector will break Place the MR BAT6V1 lead wire to the duct designed to store lead wires Insert MR BAT6V1 to the holder in the same procedure in the order from BA...

Page 244: ...ecautions for removal of battery The connector attached to the MR BAT6V1 battery has the lock release lever When removing the connector pull out the connector while pressing the lock release lever 3 B...

Page 245: ...e year and month of manufacture Item Description Battery pack 2CR17335A CR17335A 2 pcs in series Nominal voltage V 6 Nominal capacity mAh 1650 Storage temperature C 0 to 55 Operating temperature C 0 t...

Page 246: ...ower supply Servo amplifier U V W 2 Servo motor power supply lead M Table 11 1 shows examples for using the 600 V grade heat resistant polyvinyl chloride insulated wire HIV wire Table 11 1 Wire size s...

Page 247: ...r supply input MR JE 100B 1 phase power supply input 30 A frame 15 A 30 A frame 15 A 30 MR JE 200B 30 A frame 20 A 30 A frame 20 A 40 S N20 Note 3 S T21 MR JE 300B 30 A frame 30 A 30 A frame 30 A 70 S...

Page 248: ...one power factor improving reactor enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated 1 Connection example a For 3 phase 200 V AC to 240 V AC power...

Page 249: ...E 100B 1 phase power supply input MR JE 200B 3 phase power supply input FR HAL 3 7K 115 Note 3 40 115 83 81 67 M6 M4 2 2 MR JE 200B 1 phase power supply input MR JE 300B FR HAL 5 5K 115 Note 3 40 115...

Page 250: ...brake and many relays which make a large amount of noise near the servo amplifier and the servo amplifier may malfunction the following countermeasures are required Provide surge killers on the noise...

Page 251: ...ed together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearanc...

Page 252: ...Hz to 500 MHz 80 150 b Surge killer recommended Use of a surge killer is recommended for AC relay magnetic contactor or the like near the servo amplifier Use the following surge killer or equivalent M...

Page 253: ...ainst the grounding plate with the cable clamp If the cable is thin clamp several cables in a bunch The cable clamp comes as a set with the grounding plate Unit mm Cable clamp A B Cable Earth plate Ex...

Page 254: ...es but generally four passes would be appropriate For the servo motor power lines passes must be four times or less Do not pass the grounding wire through the filter Otherwise the effect of the filter...

Page 255: ...xogenous noise and lightning surge from entering the servo amplifier When using a varistor connect it between each phase of the input power supply of the equipment For varistors the TND20V 431K and TN...

Page 256: ...2 Igm M Servo amplifier NV Wire Earth leakage current breaker K Type Mitsubishi Electric products Models provided with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV HW 1 General m...

Page 257: ...dicated below is an example of selecting an earth leakage current breaker under the following conditions Servo motor HG KN43 2 mm2 5 m 2 mm2 5 m M NV Ig1 Iga Ig2 Igm Servo amplifier MR JE 40B Use an e...

Page 258: ...rvo amplifier Recommended filter Soshin Electric Mass kg Model Rated current A Rated voltage V AC Leakage current mA MR JE 10B to MR JE 100B HF3010A UN Note 10 250 5 3 5 MR JE 200B MR JE 300B HF3030A...

Page 259: ...1 L2 L3 4 5 6 E Note 1 Connect the power supply to L1 and L3 Leave L2 open 2 The example is when a surge protector is connected c For 1 phase 200 V AC to 240 V AC power supply of MR JE 200B MCCB Servo...

Page 260: ...11 47 3 Dimensions a EMC filter HF3010A UN Unit mm 32 2 85 2 110 4 258 4 273 2 288 4 300 5 M4 IN 3 M4 65 4 Approx 41 4 5 5 7 3 M4 HF3030A UN Unit mm 125 2 44 1 260 5 140 2 70 2 140 1 155 2 3 M5 6 R3...

Page 261: ...11 OPTIONS AND PERIPHERAL EQUIPMENT 11 48 b Surge protector RSPD 250 U4 41 1 28 5 1 28 1 4 2 0 5 5 5 1 11 1 30 0 200 4 5 0 5 1 3 2 Lead Case Resin Unit mm 1 2 3...

Page 262: ...dure of the battery When absolute position data is erased from the encoder always execute home position setting before operation 12 1 Summary 12 1 1 Features For normal operation the encoder consists...

Page 263: ...Battery CN4 12 1 3 Parameter setting Set _ _ _ 1 in Pr PA03 to enable the absolute position detection system Absolute position detection system selection 0 Disabled used in incremental system 1 Enable...

Page 264: ...nly when acceleration time until 6000 r min is 0 2 s or longer Note 2 Battery backup time Approximately 20 000 hours equipment power supply off ambient temperature 20 C Approximately 29 000 hours powe...

Page 265: ...is 0 2 s or longer Note 2 Battery backup time Approximately 40 000 hours 2 axes or less 30 000 hours 3 axes or 10 000 hours 8 axes equipment power supply off ambient temperature 20 C Approximately 55...

Page 266: ...oods United Nations Recommendations on the Transport of Dangerous Goods Rev 15 hereinafter Recommendations of the United Nations has been issued To reflect this transport regulations for lithium metal...

Page 267: ...batteries contained in or packed with equipment are classified as UN3091 a Transportation of lithium metal batteries alone Packaging requirement Classification Main requirement Less than eight cells...

Page 268: ...shown in Fig app 1 may be used until December 31 2018 for two years as an interim measure 4 Details of the package change The following caution is added to the packages of the target batteries Contai...

Page 269: ...d and or reused This symbol means that batteries and accumulators at their end of life should be disposed of separately from your household waste If a chemical symbol is printed beneath the symbol sho...

Page 270: ...e g light curtain connected to the safety control system App 4 1 2 Applications of the devices MR JE servo amplifiers comply with the following standards IEC EN 61800 5 1 IEC EN 61800 3 App 4 1 3 Cor...

Page 271: ...and molded case circuit breakers in the table are selected examples based on rated I O of the servo amplifiers When you select a smaller capacity servo motor to connect it to the servo amplifier you...

Page 272: ...50 m use shielded wires and ground the shields However when the encoder cable length is longer than 30 m for MR JE 70_ and MR JE 100_ set a radio noise filter FR BIF to the input power supply side of...

Page 273: ...or Over temperature sensing is not provided by the drive Integral thermal protection s is necessary for motor and refer to app 4 3 for the proper connection e Branch circuit protection For installatio...

Page 274: ...teries from two batteries lithium metal battery CR17335A which are not subject to the dangerous goods Class 9 of the UN Recommendations App 4 2 Installation direction and clearances CAUTION The device...

Page 275: ...V AC Transformer star connected PE MC Servo amplifier Cabinet side Machine side Encoder Servo motor L1 U V W PE CN2 CN1 L2L3 To protective equipment Thermal signal Note Note Please use a thermal sens...

Page 276: ...1 3 5 7 9 11 13 15 17 19 21 23 25 2 4 6 8 10 12 14 16 18 20 22 24 TLA MO1 MO2 27 29 31 33 35 37 39 41 43 45 47 49 26 28 30 32 34 36 38 40 42 44 46 48 50 LG LA LG LAR LB LG LBR LZ OP LZR LG EM2 DICOM...

Page 277: ...o SON Servo on CN1 15 RES Reset 19 CR Clear 41 EM2 Forced stop 2 42 LSP Forward rotation stroke end 43 LSN Reverse rotation stroke end 44 Output device Symbol Device Connector Pin No ZSP Zero speed de...

Page 278: ...parts is listed below However the service life varies depending on operation and environment If any fault is found in the parts they must be replaced immediately regardless of their service life For p...

Page 279: ...op When you keep or use it please fulfill the following environment Item Environment Ambient temperature Operation C 0 to 55 Class 3K3 IEC EN 60721 3 3 Transportation Note C 20 to 65 Class 2K4 IEC EN...

Page 280: ...ing W D H Front Side Servo amplifier Variable dimensions mm Mass kg W H D MR JE 10_ MR JE 20_ MR JE 40_ 50 168 135 0 8 MR JE 70_ MR JE 100_ 70 168 185 1 5 MR JE 200_ MR JE 300_ 90 168 195 2 1 d a c b...

Page 281: ...ltage directive MR JE series servo amplifiers are certificated in compliance with Low voltage directive The following shows a certificate by the Certification Body Refer to section 1 6 2 for the model...

Page 282: ...I O interface refer to section 3 8 3 4 Controlling the on switch or off switch with DC power supply satisfies the requirements of IEC EN 60204 1 5 Configure the power supply circuit that turns off th...

Page 283: ...B servo amplifiers and MR J4W _B servo amplifiers If an alarm occurs in the MR J4 _B servo amplifier and MR J4W _B servo amplifier MR JE _B MR J4 _B and MR J4W _B servo amplifiers do not decelerate to...

Page 284: ...peed is displayed Module power consumption The module power consumption is displayed The positive value is displayed in power running The negative value is displayed in regeneration Module integral po...

Page 285: ...a 1 phase 200 V AC class power supply to the servo amplifier If necessary use a step down transformer to decrease the power supply voltage to 200 V AC to 240 V AC 1 For MR JE 10B to MR JE 100B MC Ser...

Page 286: ...thing Do not connect anything 200 V AC to 240 V AC Note 1 Neutral point Alarm MC On Note 1 If necessary use a step down transformer to decrease the power supply voltage to 200 V AC to 240 V AC 2 Conne...

Page 287: ...e Threshold standard Part name Hazardous substance Note 1 Environment Friendly Use Period mark Note 2 Remark Lead Pb Mercury Hg Cadmium Cd Hexavalent chromium Cr VI PBB PBDE Threshold of cadmium 0 01...

Page 288: ...ontaining up to 0 4 lead by weight and copper alloy containing up to 4 lead by weight e g brass made insert nuts Lead in high melting temperature type solders i e lead based alloys containing 85 by we...

Page 289: ...instructions 2 5 6 Section 1 7 1 Section 2 5 Section 3 1 Section 3 3 3 Chapter 4 Section 4 3 3 Section 4 5 2 Section 5 2 2 Section 6 2 3 Section 7 1 2 Section 7 1 4 Section 7 5 Section 8 2 Section 8...

Page 290: ...raph is partially changed Section 11 1 1 Partially changed Section 11 5 4 Partially changed App 4 Partially changed App 9 Partially changed App 10 Newly added App 11 Newly added Aug 2017 SH NA 030152E...

Page 291: ...ially changed App 2 Partially changed App 4 Partially changed This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electr...

Page 292: ...and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States Japan and or other countries Intel Pentium and Celeron are trademarks of Intel Corporation in th...

Page 293: ...t from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repa...

Page 294: ...nstruction Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR JE _B SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR JE _B SERVO AMPLIF...

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