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sh (na) 030075-a (0805) mee printed in japan specifications subject to change without notice. this instruction manual uses recycled paper. model model code mr-e- a-qw003/mr-e- ag-qw003 instruction manual general-purpose ac servo ezmotion mr-e super general-purpose interface model mr-e- a-qw003 instruction manual mr-e- ag-qw003 head office : tokyo bldg marunouchi tokyo 100-8310
a - 1 safety instructions (always read these instructions before using the equipment.) do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this instruction manual, installation guide, servo motor instruction manual and appended documents carefully and can use the equipment correctly. do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions. in this instruction manual, the safety instruction levels are classified into "warning" and "caution". warning indicates that incorrect handling may cause hazardous 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 done and what must be done are indicated by the following diagrammatic symbols. : indicates what must not be done. for example, "no fire" is indicated by . : indicates what must be done. for example, grounding is indicated by . in this instruction manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "point". after reading this installation guide, always keep it accessible to the operator.
a - 2 1. to prevent electric shock, note the following warning before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. otherwise, an electric shock may occur. in addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. connect the servo amplifier and servo motor to ground. any person who is involved in wiring and inspection should be fully competent to do the work. do not attempt to wire the servo amplifier and servo motor until they have been installed. otherwise, you may get an electric shock. operate the switches with dry hand to prevent an electric shock. the cables should not be damaged, stressed, loaded, or pinched. otherwise, you may get an electric shock. 2. to prevent fire, note the following caution install the servo amplifier, servo motor and regenerative resistor on incombustible material. installing them directly or close to combustibles will lead to a fire. always connect a magnetic contactor (mc) between the main circuit power supply and l 1 , l 2 , and l 3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier?s power supply. if a magnetic contactor (mc) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. when a regenerative resistor is used, use an alarm signal to switch main power off. otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. 3. to prevent injury, note the follow caution only the voltage specified in the instruction manual should be applied to each terminal, otherwise, a burst, damage, etc. may occur. connect the terminals correctly to prevent a burst, damage, etc. ensure that polarity ( , ) is correct. otherwise, a burst, damage, etc. may occur. take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. their temperatures may be high and you may get burnt or a parts may damaged. during operation, never touch the rotating parts of the servo motor. doing so can cause injury.
a - 3 4. additional instructions the following instructions should also be fully noted. incorrect handling may cause a fault, injury, electric shock, etc. (1) transportation and installation caution transport the products correctly according to their weights. stacking in excess of the specified number of products is not allowed. do not carry the servo motor by the cables, shaft or encoder. do not hold the front cover to transport the servo amplifier. the servo amplifier may drop. install the servo amplifier in a load-bearing place in accordance with the instruction manual. do not climb or stand on servo equipment. do not put heavy objects on equipment. the servo amplifier and servo motor must be installed in the specified direction. leave specified clearances between the servo amplifier and control enclosure walls or other equipment. do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing. provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor. do not drop or strike servo amplifier or servo motor. isolate from all impact loads. when you keep or use it, please fulfill the following environmental conditions. conditions environment servo amplifier servo motor [ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing) in operation [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing) [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing) ambient temperature in storage [ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing) in operation 90 rh or less (non-condensing) 80 rh or less (non-condensing) ambient humidity in storage 90 rh or less (non-condensing) ambience indoors (no direct sunlight) free from corrosive gas, flammable gas, oil mist, dust and dirt altitude max. 1000m above sea level hf-ke w1-s100 x y : 49 hf-se52jw1-s100 to hf-se152jw1-s100 x y : 24.5 (note) vibration [m/s 2 ] 5.9 or less hf-se202jw1-s100 x : 24.5 y : 49 note. except the servo motor with reduction gear. securely attach the servo motor to the machine. if attach insecurely, the servo motor may come off during operation. the servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. never hit the servo motor or shaft, especially when coupling the servo motor to the machine. the encoder may become faulty. do not subject the servo motor shaft to more than the permissible load. otherwise, the shaft may break.
a - 4 (2) wiring caution wire the equipment correctly and securely. otherwise, the servo motor may operate unexpectedly. do not install a power capacitor, surge absorber or radio noise filter (fr-bif option) between the servo motor and servo amplifier. connect the wires to the correct phase terminals (u, v, w) of the servo amplifier and servo motor. otherwise, the servo motor does not operate properly. connect the servo motor power terminal (u, v, w) to the servo motor power input terminal (u, v, w) directly. do not let a magnetic contactor, etc. intervene. u servo motor m v w u v w u m v w u v w servo amplifier servo motor servo amplifier do not connect ac power directly to the servo motor. otherwise, a fault may occur. the surge absorbing diode installed on the dc output signal relay of the servo amplifier must be wired in the specified direction. otherwise, the emergency stop and other protective circuits may not operate. ra control output signal ra control output signal servo amplifier servo amplifier sg sg when the cable is not tightened enough to the terminal block (connector), the cable or terminal block (connector) may generate heat because of the poor contact. be sure to tighten the cable with specified torque. (3) test run adjustment caution before operation, check the parameter settings. improper settings may cause some machines to perform unexpected operation. the parameter settings must not be changed excessively. operation will be insatiable.
a - 5 (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 of the servo amplifier is off to prevent an accident. a sudden restart is made if an alarm is reset with the run signal on. do not modify the equipment. use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier. burning or breaking a servo amplifier may cause a toxic gas. do not burn or break a servo amplifier. use the servo amplifier with the specified servo motor. the electromagnetic brake on the servo motor is designed to hold the servo motor shaft and should not be used for ordinary braking. for such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the servo motor shaft. to ensure safety, install a stopper on the machine side. (5) corrective actions caution when it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention. configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop (emg). contacts must be open when servo-off, when an trouble (alm) and when an electromagnetic brake interlock (mbr). electromagnetic brake circuit must be opened during emergency stop (emg). son ra emg 24vdc when any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. when power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
a - 6 (6) storage for servo motor caution note the following points when storing the servo motor for an extended period of time (guideline: three or more months). always store the servo motor indoors in a clean and dry place. if it 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, apply rust prevention oil again especially to the machined surfaces of the shaft, etc. before using the product after storage for an extended period of time, hand-turn the motor output shaft to confirm that nothing is wrong with the servo motor. (when the servo motor is equipped with a brake, make the above check after releasing the brake with the brake power supply.) when the equipment has been stored for an extended period of time, consult mitsubishi. (7) maintenance, inspection and parts replacement caution with age, the electrolytic capacitor of the servo amplifier will deteriorate. to prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. please consult our sales representative. (8) general instruction to illustrate details, the equipment in the diagrams of this instruction manual may have been drawn without covers and safety guards. when the equipment is operated, the covers and safety guards must be installed as specified. operation must be performed in accordance with this instruction manual.
a - 7 about processing of waste when you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area). for maximum safety these products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life. before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact mitsubishi. these products have been manufactured under strict quality control. however, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system. eep-rom life the number of write times to the eep-rom, which stores parameter settings, etc., is limited to 100,000. if the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may fail when the eep-rom reaches the end of its useful life. write to the eep-rom due to parameter setting changes precautions for choosing the products mitsubishi will not be held liable for damage caused by factors found not to be the cause of mitsubishi; machine damage or lost profits caused by faults in the mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by mitsubishi; damages to products other than mitsubishi products; and to other duties.
a - 8 compliance with ec directives 1. what are ec directives? the ec directives were issued to standardize the regulations of the eu countries and ensure smooth distribution of safety-guaranteed products. in the eu countries, the machinery directive (effective in january, 1995), emc directive (effective in january, 1996) and low voltage directive (effective in january, 1997) of the ec directives require that products to be sold should meet their fundamental safety requirements and carry the ce marks (ce marking). ce marking applies to machines and equipment into which servo amplifiers have been installed. (1) emc directive the emc directive applies not to the servo units alone but to servo-incorporated machines and equipment. this requires the emc filters to be used with the servo-incorporated machines and equipment to comply with the emc directive. for specific emc directive conforming methods, refer to the emc installation guidelines (ib(na)67310). (2) low voltage directive the low voltage directive applies also to servo units alone. hence, they are designed to comply with the low voltage directive. (3) machine directive not being machines, the servo amplifiers need not comply with this directive. 2. precautions for compliance (1) servo amplifiers and servo motors used use the servo amplifiers and servo motors which comply with the standard model. servo amplifier :mr-e-10a-qw003 to mr-e-200a-qw003 mr-e-10ag-qw003 to mr-e-200ag-qw003 servo motor :hf-ke w1-s100 hf-se jw1-s100 (2) configuration reinforced insulating transformer nfb mc m circuit breaker magnetic contactor reinforced insulating type 24vdc power supply servo amplifier servo motor control box use the circuit breaker and magnetic contactor which conform to the en or iec standard. design notice: where residual-current-operated protective device (rcd) is used for protection case of direct or indirect contact, only rcd of type b is allowed on the supply side of this electronic equipment (ee). (3) environment operate the servo amplifier at or above the contamination level 2 set forth in iec60664-1. for this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (ip54). (4) power supply (a) operate the servo amplifier to meet the requirements of the overvoltage category ii set forth in iec60664-1. for this purpose, a reinforced insulating transformer conforming to the iec or en standard should be used in the power input section. (b) as the external power supply for interface, use a 24vdc power supply that has been insulation- reinforced in i/o.
a - 9 (5) grounding (a) to prevent an electric shock, always connect the protective earth (pe) terminals (terminal marked ) of the servo amplifier to the protective earth (pe) of the control box. connect pe terminal of the control box to the neutral of a power supply. be sure to ground the neutral of a power supply. (b) do not connect two ground cables to the same protective earth (pe) terminal. always connect the cables to the terminals one-to-one. pe terminals pe terminals (c) if a leakage current breaker is used to prevent an electric shock, the protective earth (pe) terminals of the servo amplifier must be connected to the corresponding earth terminals. (6) wiring (a) the cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals. crimping terminal insulating tube cable (b) 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 circuit breaker and magnetic contactor used should be the en or iec standard-compliant products of the models described in section 13.2.2. (b) the sizes of the cables described in section 13.2.1 meet the following requirements. to meet the other requirements, follow table 5 and appendix c in en60204-1. ambient temperature: 40 (104) [ ( )] sheath: pvc (polyvinyl chloride) installed on wall surface or open table tray (c) use the emc filter for noise reduction. (8) performing emc tests when emc tests are run on a machine/device into which the servo amplifier has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications. for the other emc directive guidelines on the servo amplifier, refer to the emc installation guidelines (ib(na)67310).
a - 10 conformance with ul/c-ul standard (1) servo amplifiers and servo motors used use the servo amplifiers and servo motors which comply with the standard model. servo amplifier :mr-e-10a-qw003 to mr-e-200a-qw003 mr-e-10ag-qw003 to mr-e-200ag-qw003 servo motor :hf-ke w1-s100 hf-se jw1-s100 (2) installation install a cooling fan of 100cfm (2.8 m 3 /min) air flow 4 in (10.16 cm) above the servo amplifier or provide cooling of at least equivalent capability. (3) short circuit rating: sccr (short circuit current rating) this servo amplifier conforms to the circuit whose peak current is limited to 100ka or less. having been subjected to the short-circuit tests of the ul in the alternating-current circuit, the servo amplifier 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 15 minutes after power-off. servo amplifier discharge time [min] mr-e-10a-qw003 mr-e-10ag-qw003 mr-e-20a-qw003 mr-e-20ag-qw003 1 mr-e-40a-qw003 mr-e-40ag-qw003 2 mr-e-70a-qw003 to mr-e-200ag-qw003 mr-e-70ag-qw003 to mr-e-200ag-qw003 3 (5) options and auxiliary equipment use ul/c-ul standard-compliant products. (6) about wiring protection for installation in united states, branch circuit protection must be provided, in accordance with the national electrical code and any applicable local codes. for installation in canada, branch circuit protection must be provided, in accordance with the canada electrical code and any applicable provincial codes. <> relevant manuals manual name manual no. mr-e series instructions and cautions for safe use of ac servos ib(na)0300057 emc installation guidelines ib(na)67310
1 contents 1. functions and configuration 1- 1 to 1-10 1.1 introduction............................................................................................................... ................................. 1- 1 1.2 function block diagram..................................................................................................... ........................ 1- 2 1.3 servo amplifier st andard specif ications.................................................................................... ................ 1- 3 1.4 function list .............................................................................................................. ................................. 1- 4 1.5 model code definition ...................................................................................................... .......................... 1- 6 1.6 combination with servo motor ............................................................................................... ................... 1- 6 1.7 parts identification ....................................................................................................... .............................. 1- 7 1.8 servo system with auxiliary equipment ...................................................................................... .............. 1- 9 2. installation 2- 1 to 2- 4 2.1 environmental conditions................................................................................................... ....................... 2- 1 2.2 installation direct ion and clearances ...................................................................................... .................. 2- 2 2.3 keep out foreign materials ................................................................................................. ....................... 2- 3 2.4 cable stress ............................................................................................................... ............................... 2- 3 3. signals and wiring 3- 1 to 3- 48 3.1 standard connection example ................................................................................................ .................. 3- 2 3.1.1 position control mode.................................................................................................... ..................... 3- 2 3.1.2 internal speed control mode .............................................................................................. ................ 3- 8 3.2 internal connection diagr am of servo amplifier ............................................................................. ........... 3- 9 3.3 i/o signals................................................................................................................ ................................. 3-10 3.3.1 connectors and signal arrangements ....................................................................................... ....... 3-10 3.3.2 signal explanat ions ...................................................................................................... ..................... 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 input power supply circuit ................................................................................................. ....................... 3-34 3.7.1 connection example ....................................................................................................... .................. 3-34 3.7.2 terminals ................................................................................................................ ........................... 3-35 3.7.3 power-on sequence ........................................................................................................ .................. 3-36 3.8 connection of servo am plifier and servo motor .............................................................................. ........ 3-37 3.8.1 connection instructions.................................................................................................. ................... 3-37 3.8.2 power supply cable wiring diagrams ....................................................................................... ......... 3-38 3.9 servo motor with electromagnetic brake..................................................................................... ............ 3-41 3.9.1 precautions.............................................................................................................. .......................... 3-41 3.9.2 setting.................................................................................................................. .............................. 3-41 3.9.3 timing charts ............................................................................................................ ......................... 3-42 3.10 grounding................................................................................................................. .............................. 3-44
2 3.11 servo amplifier connectors (cnp1, cnp2) wiring method (when mr-ecpn1-b and mr-ecpn2-b of an option are used.) ....................................................... 3-45 3.12 instructions for the 3m connector ......................................................................................... ................. 3-48 4. operation 4- 1 to 4- 6 4.1 when switching power on for the first time ................................................................................. ............. 4- 1 4.2 startup .................................................................................................................... ................................... 4- 2 4.2.1 selection of control mode ................................................................................................ .................. 4- 2 4.2.2 position control mode.................................................................................................... ..................... 4- 2 4.2.3 internal speed control mode .............................................................................................. ................ 4- 4 5. parameters 5- 1 to 5- 30 5.1 parameter list ............................................................................................................. ............................... 5- 1 5.1.1 parameter write inhibit .................................................................................................. ..................... 5- 1 5.1.2 lists.................................................................................................................... ................................. 5- 2 5.2 detailed description....................................................................................................... ........................... 5-24 5.2.1 electronic gear.......................................................................................................... ......................... 5-24 5.2.2 analog monitor ........................................................................................................... ....................... 5-25 5.2.3 using forward/reverse rotation stroke end to change the stopping pattern .................................... 5-28 5.2.4 alarm history clear...................................................................................................... ....................... 5-28 5.2.5 position smoothing ....................................................................................................... ..................... 5-29 6. display and operation 6- 1 to 6-14 6.1 display flowchart .......................................................................................................... ............................. 6- 1 6.2 status display ............................................................................................................. ............................... 6- 2 6.2.1 displa y 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 oper ation 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-less operation ..................................................................................................... .................... 6-14 7. general gain adjustment 7- 1 to 7-10 7.1 different adjustment methods............................................................................................... .................... 7- 1 7.1.1 adjustment on a si ngle servo amplifier................................................................................... ........... 7- 1 7.1.2 adjustment using mr configurator (servo configurat ion software).................................................. 7- 2 7.2 auto tuning ................................................................................................................ ................................ 7- 3 7.2.1 auto tuning mode ......................................................................................................... ...................... 7- 3 7.2.2 auto tuning mode operation............................................................................................... ................ 7- 4
3 7.2.3 adjustment procedure by auto tuning...................................................................................... .......... 7- 5 7.2.4 response level settin g in auto tuning mode ............................................................................... ...... 7- 6 7.3 manual mode 1 (sim ple manual adjustment) ................................................................................... ........ 7- 7 7.3.1 operation of manual mode 1 ............................................................................................... .............. 7- 7 7.3.2 adjustment by manual mode 1 .............................................................................................. ............ 7- 7 7.4 interpolation mode ......................................................................................................... .......................... 7-10 8. special adjustment functions 8- 1 to 8-10 8.1 function block diagram..................................................................................................... ........................ 8- 1 8.2 machine resonance suppression filter....................................................................................... ............... 8- 1 8.3 adaptive vibration suppression control ..................................................................................... ............... 8- 3 8.4 low-pass filter ............................................................................................................ ............................... 8- 4 8.5 gain changi ng function ..................................................................................................... ........................ 8- 5 8.5.1 applications ............................................................................................................. ........................... 8- 5 8.5.2 function block diagram ................................................................................................... ................... 8- 5 8.5.3 parameters ............................................................................................................... .......................... 8- 6 8.5.4 gain changing operation.................................................................................................. .................. 8- 8 9. inspection 9- 1 to 9- 2 10. troubleshooting 10- 1 to 10-12 10.1 trouble at start-up....................................................................................................... .......................... 10- 1 10.1.1 position control mode................................................................................................... .................. 10- 1 10.1.2 internal sp eed 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 am plifiers .......................................................................................................... .......................... 11- 1 11.2 connectors ................................................................................................................ ............................ 11- 5 12. characteristics 12- 1 to 12- 4 12.1 overload protecti on characteristics ....................................................................................... ............... 12- 1 12.2 power supply equipment capa city and generated loss ....................................................................... 1 2- 1 12.3 dynamic brake characteristics............................................................................................. ................. 12- 3 12.4 encoder cable flexing life................................................................................................ ...................... 12- 4 12.5 inrush currents at power-on of main circuit and control circuit ........................................................... . 12- 4 13. options and auxiliary equipment 13- 1 to 13-42 13.1 options ................................................................................................................... ............................... 13- 1 13.1.1 regenerative options .................................................................................................... ................. 13- 1 13.1.2 cables and connectors ................................................................................................... ............... 13- 6 13.1.3 analog monitor, rs-232c br anch cable (mr-e3cbl15-p) ........................................................ 13-27
4 13.1.4 mr configurator (servo configurations software) ........................................................................ 1 3-28 13.2 auxiliar y equipment....................................................................................................... ....................... 13-29 13.2.1 selection ex ample of wires .............................................................................................. ............. 13-29 13.2.2 circuit breakers, fu ses, magnetic contactors ............................................................................ ... 13-31 13.2.3 power factor improving reactors ......................................................................................... .......... 13-31 13.2.4 relays.................................................................................................................. .......................... 13-32 13.2.5 surge absorbers......................................................................................................... ................... 13-32 13.2.6 noise reduct ion techniques .............................................................................................. ............ 13-33 13.2.7 leakage current breaker................................................................................................. .............. 13-40 13.2.8 emc filter .............................................................................................................. ......................... 13-42 14. servo motor 14- 1 to 14- 42 14.1 compliance with the overseas standards .................................................................................... ........ 14- 1 14.1.1 compliance with ec directives ........................................................................................... ........... 14- 1 14.1.2 conformance with ul/c-ul standard ....................................................................................... .... 14- 1 14.2 introduction.............................................................................................................. .............................. 14- 2 14.2.1 features of servo motor................................................................................................. ................ 14- 2 14.2.2 rating plate ............................................................................................................ ........................ 14- 2 14.2.3 parts identification .................................................................................................... ...................... 14- 3 14.2.4 electromagnetic br ake characteristics................................................................................... ........ 14- 4 14.2.5 servo motor shaft shapes ................................................................................................ .............. 14- 5 14.3 installation .............................................................................................................. ............................... 14- 6 14.3.1 installation orientation ................................................................................................ .................... 14- 7 14.3.2 load remove precautions ................................................................................................. ............. 14- 7 14.3.3 permissible lo ad for the shaft .......................................................................................... .............. 14- 8 14.3.4 protection fr om oil and water ........................................................................................... .............. 14- 8 14.3.5 cable ................................................................................................................... ........................... 14- 9 14.3.6 inspection .............................................................................................................. ........................ 14-10 14.3.7 life .................................................................................................................... ............................. 14-10 14.3.8 machine accuracies ...................................................................................................... ................ 14-11 14.4 connectors used for servo motor wiring .................................................................................... ......... 14-12 14.4.1 selection of connectors................................................................................................. ................ 14-12 14.4.2 wiring connectors (connector configurations a b c) .............................................................. 14-12 14.4.3 wiring connectors (connector conf igurations d, e, f, g, h)....................................................... 14-14 14.5 connector outline drawings ................................................................................................ ................. 14-17 14.6 hf-ke w1-s100........................................................................................................................ ........ 14-22 14.6.1 model nam e make up ...................................................................................................... ............. 14-22 14.6.2 standard sp ecificat ions ................................................................................................. ................ 14-23 14.6.3 electromagnetic br ake characteristics................................................................................... ....... 14-25 14.6.4 servo motors with special shafts ........................................................................................ .......... 14-26 14.6.5 outline dim ension dr awings.............................................................................................. ............ 14-27 14.7 hf-se jw1-s100....................................................................................................................... ....... 14-34 14.7.1 model nam e make up ...................................................................................................... ............. 14-34 14.7.2 standard sp ecificat ions ................................................................................................. ................ 14-35 14.7.3 electromagnetic br ake characteristics................................................................................... ....... 14-37 14.7.4 servo motors with special shafts ........................................................................................ .......... 14-38 14.7.5 outline dim ension dr awings.............................................................................................. ............ 14-39
5 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15- 1 to 15- 64 15.1. functions and configuration.............................................................................................. ................... 15- 1 15.1.1 introduction............................................................................................................ ......................... 15- 1 15.1.2 function block diagram.................................................................................................. ................ 15- 2 15.1.3 servo amplifier st andard spec ificat ions................................................................................. ........ 15- 3 15.1.4 model code definition ................................................................................................... .................. 15- 4 15.1.5 parts identification .................................................................................................... ...................... 15- 4 15.1.6 servo system with auxiliary equipment ................................................................................... ...... 15- 6 15.2. signals and wiring ....................................................................................................... ......................... 15- 8 15.2.1 standard conn ection example ............................................................................................. .......... 15- 8 15.2.2 internal connection di agram of serv o amplifier .......................................................................... .. 15-11 15.2.3 connectors and signal arrangements ...................................................................................... .... 15-12 15.2.4 signal explanations ..................................................................................................... .................. 15-14 15.2.5 detailed descripti on of the signals..................................................................................... ........... 15-20 15.3 startup ................................................................................................................... ............................... 15-27 15.3.1 speed c ontrol mode ...................................................................................................... ................ 15-27 15.3.2 torque co ntrol mode ..................................................................................................... ................ 15-30 15.4 parameters................................................................................................................ ........................... 15-32 15.4.1 item list ............................................................................................................... ........................... 15-32 15.4.2 details list ............................................................................................................ .......................... 15-35 15.5 display an d operation ..................................................................................................... ..................... 15-55 15.5.1 display flowchart ....................................................................................................... .................... 15-55 15.5.2 status display .......................................................................................................... ...................... 15-56 15.5.3 diagnos tic mode......................................................................................................... ................... 15-58 15.5.4 external i/o signal display ............................................................................................. ............... 15-60 15.6. troubleshooting .......................................................................................................... ........................ 15-62 15.6.1 trouble at start-up ..................................................................................................... .................... 15-62 15.6.2 alarms and warning list................................................................................................. ................ 15-64 appendix app.- 1 app. change of connector sets to th e rohs compatible products ..........................................................app.- 1
6 memo
1 - 1 1. functions and configuration 1. functions and configuration 1.1 introduction the mitsubishi general-purpose ac servo mr-e super has position control and internal speed control modes. it can perform operation with the control modes changed, e.g. position/internal speed control. hence, it is applicable to wide range of fields such as precision positioning and smooth speed control of machine tools and general industrial machines. as this new series has the rs-232c or rs-422 serial communication function, a mr configurator (servo configuration software)-installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc. with real-time auto tuning, you can automatically adjust the servo gains according to the machine. the mr-e super servo motor is equipped with an incremental position encoder that has the resolution of 131072 pulses/rev to ensure high precision positioning. (1) position control mode an up to 1mpps high-speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 131072 pulses/rev resolution. the position smoothing function provides a choice of two different modes appropriate for a machine, so a smoother start/stop can be made in response to a sudden position command. a torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration/deceleration or overload. this torque limit value can be changed to any value with the parameter. (2) internal speed control mode the 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.
1 - 2 1. functions and configuration 1.2 function block diagram the function block diagram of this servo is shown below. regenerative option servo amplifier charge lamp servo motor regenerative tr (note 1) base amplifier voltage detection overcurrent protection encoder dynamic brake control power supply electro- magnetic brake current detection model position control model speed control pulse input model position actual position control actual 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) d c p nfb mc l 1 l 2 l 3 cn1 cn3 rs-232c i/f cn2 u v w u v w m rs-232c d/a (note 3) (note 3) (note 3) (note 3) (note 3) (note 3) (note 2) power supply (note 4) cooling fan current detector diode stack b2 b1 relay ra 24vdc note 1. the built-in regenerative resistor is not provided for the mr-e-10a-qw003/mr-e-20a-qw003. 2. the single-phase 230vac can be used for mr-e-70a-qw003 or smaller servo amplifier. connect the power supply cables to l 1 and l 2 while leaving l 3 open. refer to section 1.3 for the power supply specification. 3. the control circuit connectors (cn1, cn2 and cn3) are safely isolated from main circuit terminals (l 1 , l 2 , l 3 , u, v, w, p, c and d). 4. servo amplifiers mr-e-200a-qw003 have a cooling fan.
1 - 3 1. functions and configuration 1.3 servo amplifier standard specifications servo amplifier mr-e- -qw003 item 10a 20a 40a 70a 100a 200a voltage/frequency 3-phase 200 to 230vac, 50/60hz or 1-phase 230vac, 50/60hz 3-phase 200 to 230vac, 50/60hz permissible voltage fluctuation 3-phase 200 to 230vac: 170 to 253vac, 50/60hz 1-phase 230vac: 207 to 253vac, 50/60hz 3-phase 170 to 253vac, 50/60hz permissible frequency fluctuation within 5 power supply power supply capacity refer to section 12.2 inrush current refer to section 12.5 control system sine-wave pwm control, current control system dynamic brake built-in protective functions overcurrent shut-o ff, regen erative overvoltage s hut-off, overlo ad shut-off (electronic thermal relay), encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection max. input pulse frequency 1mpps (for differential receiver), 200kpps (for open collector) command pulse multiplying factor electronic gear a: 1 to 65535 b: 1 to 65535, 1/50 a/b 50 in-position range setting 0 to 10000 pulse (command pulse unit) error excessive 2.5 revolutions position control mode torque limit set by parameter setting speed control range internal speed command 1: 5000 speed fluctuation ratio 0.01 or less (load fluctuation 0 to 100 ) 0 (power fluctuation 10 ) internal speed control mode torque limit set by parameter setting structure self-cooled, open (ip00) force-cooling, open (ip00) [ ] 0 to 55 (non-freezing) operation [ ] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) ambient temperature storage [ ] 4 to 149 (non-freezing) operation ambient humidity storage 90 rh or less (non-condensing) ambient indoors (no direct sunlight) free from corrosive gas, flammable gas, oil mist, dust and dirt altitude max. 1000m above sea level environment vibration 5.9 [m/s 2 ] or less mass [kg] 0.7 0.7 1.1 1.7 1.7 2.0
1 - 4 1. functions and configuration 1.4 function list the following table lists the functions of this servo. for details of the functions, refer to the reference field. function description (note) control mode reference position control mode this servo is used as position control servo. p section 3.1.1 section 3.4.1 section 4.2.2 internal speed control mode this servo is used as internal speed control servo. s section 3.1.2 section 3.4.2 section 4.2.3 position/internal speed control change mode using external input signal, control can be switched between position control and internal speed control. p/s section 3.4.4 high-resolution encoder high-resolution encoder of 131072 pulses/rev is used as a servo motor encoder. p, s gain changing function you can switch between gains during rotation and gains during stop or use an external input signal to change gains during operation. p, s section 8.5 adaptive vibration suppression control servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. p, s section 8.3 low-pass 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 mr configurator (servo configuration software)-installed personal computer and servo amplifier. p machine simulation can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. p gain search function personal computer changes gains automatically and searches for overshoot-free gains in a short time. p slight vibration suppression control suppresses vibration of 1 pulse produced at a servo motor stop. p parameter no.20 electronic gear input pulses can be multiplied by 1/50 to 50. p parameters no.3, 4, 69 to 71 auto tuning automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. p, s chapter 7 position smoothing speed can be increased smoothly in response to input pulse. p parameter no.7 s-pattern acceleration/ deceleration time constant speed can be increased and decreased smoothly. s parameter no.13 regenerative option used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated. p, s section 13.1.1
1 - 5 1. functions and configuration function description (note) control mode reference alarm history clear alarm history is cleared. p, s parameter no.16 restart after instantaneous power failure if the input power supply voltage had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal. s parameter no.20 command pulse selection command pulse train form can be selected from among four different types. p parameter no.21 input signal selection forward rotation start, reverse rotation start, servo-on and other input signals can be assigned to any pins. p, s parameters no.43 to 48 torque limit servo motor torque can be limited to any value. p, s section 3.4.1 (5) parameter no.28 status display servo 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 the operation section of the servo amplifier without the start signal entered. p, s section 6.8 analog monitor output servo status is output in terms of voltage in real time. p, s parameter no.17 mr configurator (servo configuration software) using a personal computer, parameter setting, test operation, status display, etc. can be performed. p, s section 13.1.8 alarm code output if an alarm has occurred, the corresponding alarm number is output in 3-bit code. p, s section 10.2.1 note. p: position control mode, s: internal speed control mode p/s: position/internal speed control change mode
1 - 6 1. functions and configuration 1.5 model code definition (1) rating plate mr-e-40a-qw003 model ac servo power input output serial :400w :2.6a 3ph200-230v 50hz :2.6a 3ph200-230v 60hz :170v 0-360hz 2.8a :xxxxyyyyy :tcxxxayyygzz : model capacity applicable power supply rated output current serial number (2) model 70 750 40 400 10 100 20 100 200 1000 200 2000 rating plate rating plate rating plate rated output series pulse train interface mr-e super servo amplifier (source i/o interface) mr-e-40a-qw003 or less mr-e-70a-qw003, mr-e-100a-qw003 mr-e-200a-qw003 symbol symbol rated output [w] rated output [w] 1.6 combination with servo motor the following table lists combinations of servo amplifiers and servo motors. the same combinations apply to the servo motor models with electromagnetic brakes. servo motors servo amplifier hf-ke w1-s100 hf-se jw1-s100 mr-e-10a-qw003 13 mr-e-20a-qw003 23 mr-e-40a-qw003 43 mr-e-70a-qw003 73 52 mr-e-100a-qw003 102 mr-e-200a-qw003 152 202
1 - 7 1. functions and configuration 1.7 parts identification (1) mr-e-100a-qw003 or less mode cn3 set cn1 cn2 cnp2 cnp1 l3l2l1 d c p w v u charge mitsubishi mr- used to set data. used to change the display or data in each mode. used to change the mode. mode up down set fixed part (mr-e-10a-qw003 to mr-e-40a-qw003: 2 places mr-e-70a-qw003 mr-e-100a-qw003: 3 places) reference name/application display the 5-digit, seven-segment led shows the servo status and alarm number. operation section used to perform status display, diagnostic, alarm and parameter setting operations. communication connector (cn3) used to connect a command device (rs-232c) and output analog monitor data. chapter 6 chapter 6 section 3.3 section 13.1.2 section 3.3 i/o signal connector (cn1) used to connect digital i/o signals. encoder connector (cn2) use to connect the servo motor encoder. charge lamp lit to indicate that the main circuit is charged. while this lamp is lit, do not reconnect the cables. servo motor power connector (cnp2) used to connect the servo motor. power supply/regenerative connector (cnp1) used to connect the input power supply and regenerative option. protective earth (pe) terminal ( ) ground terminal. section 3.3 section1 3.1.2 section 3.7 section 11.1 section 3.7 section 11.1 section 13.1.1 section 3.10 section 11.1
1 - 8 1. functions and configuration (2) mr-e-200a-qw003 used to set data. used to change the display or data in each mode. used to change the mode. mode up down set cooling fan fixed part (3 places) display the 5-digit, seven-segment led shows the servo status and alarm number. chapter 6 reference name/application chapter 6 section 3.3 section 13.1.2 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. rating plate encoder connector (cn2) used to connect the servo motor encoder. power supply/regenerative connector (cnp1) used to connect the input power supply and regenerative option. charge lamp lit to indicate that the main circuit is charged. while this lamp is lit, do not reconnect the cables. protective earth (pe) terminal ( ) ground terminal. servo motor power connector (cnp2) used to connect the servo motor. section 3.7 section 11.1 section 3.10 section 11.1 section 3.7 section 11.1 section 13.1.1 section 3.3 section 13.1.2 section 1.5 section 3.3 operation section used to perform status display, diagnostic, alarm and parameter setting operations.
1 - 9 1. functions and configuration 1.8 servo system with auxiliary equipment warning 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. (1) mr-e-100a-qw003 or less personal computer mr configurator (servo configuration software) regenerative option command device cn3 set cn1 cn2 cnp2 cnp1 l3 l1dcp wvu mitsubishi mr-e- c p l 3 l 2 l 1 to cn3 to cn1 servo amplifier l2 to cn2 to cnp2 (note) power supply options and auxiliary equipment circuit breaker magnetic contactor mr configurator (servo configuration software) reference section 13.2.2 section 13.2.2 section 13.1.4 options and auxiliary equipment regenerative option cables power factor improving reactor reference section 13.1.1 section 13.2.1 section 13.2.3 circuit breaker (nfb) or fuse power factor improving reactor (fr-bal) magnetic contactor (mc) protective earth mode charge servo motor note. a 1-phase 230vac power supply may be used with the servo amplifier of mr-e-70a-qw003 or less. connect the power supply to l 1 and l 2 terminals and leave l 3 open. refer to section 1.3 for the power supply specification.
1 - 10 1. functions and configuration (2) mr-e-200a-qw003 u v command device l 3 l 2 l 1 dc l3 pl1 l2 charge cnp2 cnp1 cn1 cn2 w cn3 mode set mitsubishi ezmotion p c power factor improving reactor (fr-bal) (note) power supply circuit breaker (nfb) or fuse magnetic contactor (mc) to cn2 to cn1 to cn3 servo amplifier regenerative option personal computer options and auxiliary equipment circuit breaker magnetic contactor reference section 13.2.2 section 13.2.2 section 13.1.4 options and auxiliary equipment regenerative option cables power factor improving reactor reference section 13.1.1 section 13.2.1 section 13.2.3 mr configurator (servo configuration software) mr configurator (servo configuration software) to cnp2 servo motor note. refer to section 1.3 for the power supply specification.
2 - 1 2. installation 2. installation caution stacking in excess of the limited number of products is not allowed. install the equipment to incombustibles. installing them directly or close to combustibles will led to a fire. install the equipment on incombustible material. installing them directly or close to combustibles will lead to a fire. do not get on or put heavy load on the equipment to prevent injury. use the equipment within the specified environmental condition range. (for details of the environmental condition, refer to section 2.1.) provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering 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. when treating the servo amplifier, be careful about the edged parts such as the corners of the servo amplifier. 2.1 environmental conditions environment conditions [ ] 0 to 55 (non-freezing) in operation [ ] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) ambient temperature in storage [ ] 4 to 149 (non-freezing) in operation ambient humidity in storage 90 rh or less (non-condensing) ambience indoors (no direct sunlight) free from corrosive gas, flammable gas, oil mist, dust and dirt altitude max. 1000m above sea level vibration [m/s 2 ] 5.9 [m/s 2 ] or less
2 - 2 2. installation 2.2 installation direction and clearances caution the equipment must be installed in the specified direction. otherwise, a fault may occur. leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) installation of one servo amplifier mode cn3 set cn1 cn2 cnp2 cnp1 l3l2l1 d c p w v u charge mitsubishi mr- control box control box 10mm or more 10mm or more 40mm or more servo amplifier 40mm or more wiring clearance top bottom 70mm (2) installation of two or more servo amplifiers leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions. mode cn3 set cn1 cn2 cnp2 cnp1 l3 l2l1 d c p w v u charge mitsubishi mr- mode cn3 cn1 cn2 cnp2 cnp1 l3 l2l1 d c p w v u charge mitsubishi mr- set control box 30mm or more 30mm or more 10mm or more 40mm or more 100mm or more top bottom
2 - 3 2. installation (3) others when using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected. install the servo amplifier on a perpendicular wall in the correct vertical direction. 2.3 keep out foreign materials (1) when installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier. (2) prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or a cooling fan installed on the ceiling. (3) when installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air purge (force clean air into the control box from outside 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 with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables. use the optional encoder cable within the flexing life range. use the power supply and brake wiring cables within the flexing life of the cables. (3) avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles. (4) for installation on a machine where the servo motor will move, the flexing radius should be made as large as possible. refer to section 12.4 for the flexing life.
2 - 4 2. installation memo
3 - 1 3. signals a nd wiring 3. signals and wiring warning any person who is involved in wiring should be fully competent to do the work. before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. otherwise, an electric shock may occur. in addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. ground the servo amplifier and the servo motor securely. do not attempt to wire the servo amplifier and servo motor until they have been installed. otherwise, you may get an electric shock. the cables should not be damaged, stressed excessively, loaded heavily, or pinched. otherwise, you may get an electric shock. caution wire the equipment correctly and securely. otherwise, the servo motor may operate unexpectedly, resulting in injury. connect 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 control output signal ra control output signal servo amplifier servo amplifier sg sg use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near the servo amplifier. do not install a power capacitor, surge suppressor or radio noise filter (fr-bif option) with the power line of the servo motor. when using the regenerative resistor, switch power off with the alarm signal. otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. do not modify the equipment. during power-on, do not open or close the motor power line. otherwise, a malfunction or faulty may occur.
3 - 2 3. signals and wiring 3.1 standard connection example point refer to section 3.7.1 for the connection of the power supply system and to section 3.8 for connection with the servo motor. 3.1.1 position control mode (1) fx-10gm (note 8) 2m max. 2m max. 10m max. 9,19 9 12 inp rd ra1 ra2 alm zsp 17 16 18 sd 15 4 3 sd 6 mo1 lg mo2 a a sg vin op opc vin pp sg np vin cr sd 10 11 13 1 21 2 1 23 13 25 1 5 12 1 2 14 13 7,17 8,18 6 9,19 16 3 4 11 5 15 1 2 4 5 6 8 3 7 start stop fwd rvs dog lsr com1 zrn lsf fx-10gm cn3 20 19 8 4 3 6 7 1 emg son res lsp lsn vin 1vin cn1 13 sg svrdy com2 com2 svend com4 pgo vc fpo fp com5 rp rpo clr com3 24 positioning module servo amplifier (note 7) (note 7) cn1 cn1 (note 2) (note 5) trouble zero speed plate (note 7) plate (note 3, 4) emergency stop servo-on reset (note 4) forward rotation stroke end reverse rotation stroke end (note 6) communication cable (note 6) monitor output max. 1ma reading in both directions (note 7) (note 1) cn1 (note 7) cn3 (note 7) 10k 10k encoder a-phase pulse (differential line driver) encoder b-phase pulse (differential line driver) encoder z-phase pulse (differential line driver) external power supply 24vdc plate (note 10) 18 lg control common la lar lb lbr 14 lzr lz (note 9) mr configurator (servo configuration software) personal computer
3 - 3 3. signals and wiring 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 ou tput signals, disabling the emergency stop and other protective circuits. 3. the emergency stop switch (normally closed contact) must be installed. 4. when starting operation, always connect the emergency stop (emg) and forward rotation stroke end (lsn), reverse rotation str oke end (lsp) with vin. (normally closed contacts) 5. trouble (alm) is connected with vin in normal alarm-free condition. when this signal is switched off (at occurrence of an al arm), the output of the controller should be stopped by the sequence program. 6. when connecting the personal computer together with monitor outputs 1, 2, use the branch cable (mr-e3cbl15-p). (refer to section 13.1.3) 7. the pins with the same signal name are connected in the servo amplifier. 8. this length applies to the command pulse train input in the open collector system. it is 10m or less in the differential lin e driver system. 9. use mrzjw3-setup154e of 154c. 10. externally supply 24vdc 10 , 200ma power for the interface. 200ma is a value applicable when all i/o signals are used. reducing the number of i/o points decreases the current capacity. refer to the current necessary for the interface described in section 3.6.2. connect the external 24vdc power supply if the output signals are not used.
3 - 4 3. signals and wiring (2) ad75p (a1sd75p ) (note 9) mr configurator (servo configuration software) personal computer pulse r 2m max. (note 8) 10m max. 26 8 24 5 21 4 22 7 23 3 25 6 1 20 12 14 35 16 13 15 11 2 36 19 sg inp lz vin pg np ng rd cr pp lzr sd lg dog com rls start chg fls stop com ready com inps clear pgo(24v) pgo(5v) pgo com clear com pulse f pulse com pulse r pulse com 17 16 18 15 4 3 sd 6 mo1 lg mo2 a a cn3 21 14 8 4 3 6 7 1 emg son res lsp lsn vin cn1 cn3 cn1 cn1 9 12 ra1 ra2 alm zsp 1vin cn1 13 sg 11 13 10 19 20 1 5 22 23 24 25 14 (note 7) 24vdc positioning module ad75p (a1sd75p ) servo amplifier (note 2) (note 5) trouble zero speed encoder a-phase pulse (differential line driver) encoder b-phase pulse (differential line driver) encoder z-phase pulse (open collector) (note 3, 4) emergency stop servo-on reset (note 4) forward rotation stroke end reverse rotation stroke end (note 6) communication cable (note 1) (note 6) monitor output max. 1ma reading in both directions 10k 10k (note 7) (note 7) (note 7) (note 7) (note 7) plate plate plate external power supply 24vdc (note 11) control common pulse f pulse f pulse r op lg sd la lar lb lbr (note 10)
3 - 5 3. signals and wiring 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 ou tput signals, disabling the emergency stop and other protective circuits. 3. the emergency stop switch (normally closed contact) must be installed. 4. when starting operation, always connect the emergency stop (emg) and forward rotation stroke end (lsn), reverse rotation str oke end (lsp) with vin. (normally closed contacts) 5. trouble (alm) is connected with vin in normal alarm-free condition. when this signal is switched off (at occurrence of an al arm), the output of the controller should be stopped by the sequence program. 6. when connecting the personal computer together with monitor outputs 1, 2, use the branch cable (mr-e3cbl15-p). (refer to section 13.1.3) 7. the pins with the same signal name are connected in the servo amplifier. 8. this length applies to the command pulse train input in the differential line driver system. it is 2m or less in the open collector system. 9. use mrzjw3-setup154e of 154c. 10. to enhance noise immunity, connect lg and pulse output com. 11. externally supply 24vdc 10 , 200ma power for the interface. 200ma is a value applicable when all i/o signals are used. reducing the number of i/o points decreases the current capacity. refer to the current necessary for the interface described in section 3.6.2. connect the external 24vdc power supply if the output signals are not used.
3 - 6 3. signals and wiring (3) qd75d (differential driver) (note 9) mr configurator (servo configuration software) personal computer (note 8) 10m max. rdy com 10m or less pulse r pulse f pulse f pulse r sg lz vin pg np ng rd cr pp lzr sd lg 17 16 18 15 4 3 sd 6 mo1 lg mo2 a a cn3 21 14 8 4 3 6 7 1 emg son res lsp lsn vin cn1 cn3 cn1 9 12 ra1 ra2 alm zsp 1vin 13 sg 11 13 19 20 1 5 22 23 24 25 14 12 9 13 16 17 18 11 14 15 10 a19 b20 1 4 2 5 3 a20 b19 ready clear dog rls chg fls stop pgo pgo com clear com a b 0v 5v 5g (note 7) positioning module qd75d servo amplifier (note 7) cn1 (note 7) cn1 (note 2) encoder a-phase pulse (differential line driver) encoder b-phase pulse (differential line driver) control common encoder z-phase pulse (open collector) (note 7) plate (note 3, 4) emergency stop servo-on reset (note 4) forward rotation stroke end reverse rotation stroke end (note 6) communication cable (note 1) (note 6) monitor output max. 1ma reading in both directions 10k plate 10k (note 5) trouble zero speed (note 7) (note 7) 5v external power supply 24vdc manual pulse generator mr-hdp01 (note 11) 10 inp ra3 external power supply 24vdc pulser b pulser a pulser a pulser b 2m max. la lar lb lg lbr op sd (note 10) plate
3 - 7 3. signals and wiring 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 ou tput signals, disabling the emergency stop and other protective circuits. 3. the emergency stop switch (normally closed contact) must be installed. 4. when starting operation, always connect the emergency stop (emg) and forward rotation stroke end (lsn), reverse rotation str oke end (lsp) with vin. (normally closed contacts) 5. trouble (alm) is connected with vin in normal alarm-free condition. when this signal is switched off (at occurrence of an al arm), the output of the controller should be stopped by the sequence program. 6. when connecting the personal computer together with monitor outputs 1, 2, use the branch cable (mr-e3cbl15-p). (refer to section 13.1.3) 7. the pins with the same signal name are connected in the servo amplifier. 8. this length applies to the command pulse train input in the differential line driver system. it is 2m or less in the open collector system. 9. use mrzjw3-setup154e of 154c. 10. this connection is not required for the qd75d. depending on the used positioning module, however, it is recommended to connect the lg and control common terminals of the servo amplifier to enhance noise immunity. 11. externally supply 24vdc 10 , 200ma power for the interface. 200ma is a value applicable when all i/o signals are used. reducing the number of i/o points decreases the current capacity. refer to the current necessary for the interface described in section 3.6.2. connect the external 24vdc power supply if the output signals are not used.
3 - 8 3. signals and wiring 3.1.2 internal speed control mode lzr la lar lb lbr lg rd 10m max. 1 9 12 ra1 ra2 8 4 3 5 6 7 emg son st1 st2 lsp lsn vin 1 alm zsp cn3 vin cn1 4 3 sd 6 mo1 lg mo2 10k 10k a a cn3 20 19 21 17 16 18 lz sd 14 15 11 10 sa ra3 ra4 13 sg plate personal computer cn1 (note 7) (note 5) trouble zero speed (note 2) control common encoder z-phase pulse (differential line driver) encoder a-phase pulse (differential line driver) encoder b-phase pulse (differential line driver) (note 6) communication cable (note 6) monitor output max. 1ma reading in both directions (note 1) servo amplifier (note 7) speed reached ready plate (note 3, 4) emergency stop servo-on forward rotation start reverse rotation start (note 4) forward rotation stroke end reverse rotation stroke end external power supply 24vdc (note 7) (note 7) (note 9) encoder z-phase pulse (open collector) op 2m max. (note 8) mr configurator (servo configuration software) 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 ou tput signals, disabling the emergency stop and other protective circuits. 3. the emergency stop switch (normally closed contact) must be installed. 4. when starting operation, always connect the emergency stop (emg) and forward rotation stroke end (lsn), reverse rotation str oke end (lsp) with vin. (normally closed contacts) 5. trouble (alm) is connected with vin in normal alarm-free condition. 6. when connecting the personal computer together with monitor outputs 1, 2, use the branch cable (mr-e3cbl15-p). (refer to section 13.1.3) 7. the pins with the same signal name are connected in the servo amplifier. 8. use mrzjw3-setup154e of 154c. 9. externally supply 24vdc 10 , 200ma power for the interface. 200ma is a value applicable when all i/o signals are used. reducing the number of i/o points decreases the current capacity. refer to the current necessary for the interface described in section 3.6.2. connect the external 24vdc power supply if the output signals are not used.
3 - 9 3. signals and wiring 3.2 internal connection diagram of servo amplifier the following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode. external power supply 24vdc s rd rd 11 cr opc pg res emg lsp lsn sg emg lsp lsn sg st1 sd pp ng np sd p 13 cn1 cn1 son son 4 3 8 6 7 st2 5 2 22 23 24 25 case ps inp sa 10 alm alm 9 zsp zsp 12 15 16 18 17 20 21 19 la lar lbr lb lzr op lz cn1 4mo1 6 2 mo2 txd cn3 1rxd 3lg pe lg 14 vin vin 1 case sd (note) servo amplifier approx. 100 approx. 100 approx. 1.2k approx. 1.2k approx. 4.7k (note) approx. 4.7k approx. 4.7k approx. 4.7k approx. 4.7k approx. 4.7k note. p: position control mode, s: internal speed control mode
3 - 10 3. signals and wiring 3.3 i/o signals 3.3.1 connectors and signal arrangements point the pin configurations of the connectors are as viewed from the cable connector wiring section. refer to the next page for cn1 signal assignment. (1) signal arrangement cn1 mode cn3 set cn1 cn2 cnp2 cnp1 l3 l2l1 d c p w v u charge mitsubishi mr-e 6 mo2 2 opc 1 vin 15 la 14 lg 16 lar 17 lb 3 res 4 son 6 lsp 5 cr 19 lz 18 lbr 20 lzr 21 op 7 lsn 8 emg 10 inp 9 alm 23 pp 22 pg 24 ng 25 np 11 rd 12 zsp 26 13 sg mo1 4 2 txd 2 txd 5 3 lg 1 rxd the connector frames are connected with the pe (earth) terminal inside the servo amplifier. 9 4 mrr 2 lg 8 6 1 p5 5 10 3 mr 7 lg cn2 mdr md cn3
3 - 11 3. signals and wiring (2) cn1 signal assignment the signal assignment of connector changes with the control mode as indicated below; for the pins which are given parameter no.s in the related parameter column, their signals can be changed using those parameters. (note 2) i/o signals in control modes connector pin no. (note 1) i/o p p/s s related parameter 1 vin vin vin 2 opc 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 pp/ 24 i ng ng/ 25 i np np/ cn1 26 note 1. i: input signal, o: output signal 2. p: position control mode, s: internal speed control mode, p/s: position/internal speed control change mode
3 - 12 3. signals and wiring (3) symbols and signal names symbol signal name symbol signal name son servo-on zsp zero speed lsp forward rotation stroke end inp in position lsn reverse rotation stroke end sa speed reached cr clear alm trouble sp1 speed selection 1 wng warning sp2 speed selection 2 op encoder z-phase pulse (open collector) pc proportion control mbr electromagnetic brake interlock st1 forward rotation start lz st2 reverse rotation start lzr encoder z-phase pulse (differential line driver) tl1 internal torque limit selection la res reset lar encoder a-phase pulse (differential line driver) emg emergency stop lb lop control change lbr encoder b-phase pulse (differential line driver) pp vin digital i/f power supply input np opc open collector power input pg sg digital i/f common ng forward/reverse rotation pulse train lg control common rd ready sd shield
3 - 13 3. signals and wiring 3.3.2 signal explanations for the i/o interfaces (symbols in i/o column in the table), refer to section 3.6.2. in the control mode field of the table p : position control mode, s: internal speed control mode : denotes that the signal may be used in the initial setting status. : denotes that the signal may be used by setting the corresponding parameter among parameters no.43 to 49. the pin no.s in the connector pin no. column are those in the initial status. (1) input signals point the acceptance delay time of each input signal is less than 10ms. control mode signal symbol connector pin no. functions/applications i/o division p s servo-on son cn1-4 connect son-vin to switch on the base circuit and make the servo amplifier ready to operate (servo-on). disconnect son-vin to shut off the base circuit 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-vin for more than 50ms to reset the alarm. some alarms cannot be deactivated by the reset (res). (refer to section 10.2.1.) shorting res-vin in an alarm-free status shuts off the base circuit. the base circuit is not shut off when " 1 " is set in parameter no.51. this device is not designed to make a stop. do not turn it on during operation. di-1 forward rotation stroke end lsp cn1-6 to start operation, short lsp-vin and/or lsn-vin. open them to bring the motor to a sudden stop and make it servo-locked. set " 1" in parameter no.22 to make a slow stop. (refer to section 5.2.3.) di-1 (note) input signals operation lsp lsn ccw direction cw direction 1 1 0 1 lsn cn1-7 1 0 reverse rotation stroke end 0 0 note. 0: lsp/lsn-vin off (open) 1: lsp/lsn-vin on (short) set parameter no.41 as indicated below to switch on the signals (keep terminals connected) automatically in the servo amplifier. parameter no.41 automatic on 1 lsp 1 lsn
3 - 14 3. signals and wiring control mode signal symbol connector pin no. functions/applications i/o division p s internal torque limit selection tl1 when using this signal, make it usable by making the setting of parameter no.43 to 48. (refer to section 3.4.1 (5).) di-1 st1 cn1-3 used to start the servo motor in any of the following directions. di-1 forward rotation start (note) input signals st2 st1 servo motor starting direction 0 0 stop (servo lock) st2 cn1-5 0 1 ccw reverse rotation start 1 0 cw 1 1 stop (servo lock) note. 0: st1/st2-vin off (open) 1: st1/st2-vin on (short) if both st1 and st2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the parameter no.12 setting and servo-locked. speed selection 1 sp1 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 speed selection 2 sp2 (note) input signals di-1 sp3 sp2 sp1 servo motor starting direction sp3 0 0 0 internal speed command 1 (parameter no.8) di-1 speed selection 3 0 0 1 internal speed command 1 (parameter no.8) 0 1 0 internal speed command 2 (parameter no.9) 0 1 1 internal speed command 3 (parameter no.10) 1 0 0 internal speed command 4 (parameter no.72) 1 0 1 internal speed command 5 (parameter no.73) 1 1 0 internal speed command 6 (parameter no.74) 1 1 1 internal speed command 7 (parameter no.75) note. 0: sp1/sp2/sp3-vin off (open) 1: sp1/sp2/sp3-vin on (short) proportion control pc connect pc-vin to switch the speed amplifier from the proportional integral type to the proportional type. if the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. when the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the proportion control signal (pc) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift. when the shaft is to be locked for a long time, set the internal torque limit 1 and 2 (parameter no.28 and 76) to make the torque less than the rated torque at the same time of turning on the proportion control signal. di-1
3 - 15 3. signals and wiring control mode signal symbol connector pin no. functions/applications i/o division p s emergency stop emg cn1-8 disconnect emg-vin to bring the servo motor to emergency stop state, in which the servo is switched off and the dynamic brake is operated. connect emg-vin in the emergency stop state to reset that state. di-1 clear cr cn1-5 connect cr-vin to clear the position control counter droop pulses on its leading edge. the pulse width should be 10ms or more. when the parameter no.42 setting is " 1 ", the pulses are always cleared while cr-vin are connected. di-1 electronic gear selection 1 cm1 when using cm1 and cm2, make them usable by the setting of parameters no.43 to 48. the combination of cm1-vin and cm2-vin gives you a choice of four different electronic gear numerators set in the parameters. cm1 and cm2 cannot be used in the absolute position detection system. di-1 cm2 (note) input signals di-1 electronic gear selection 2 cm2 cm1 electronic gear numerator 0 0 parameter no.3 0 1 parameter no.69 1 0 parameter no.70 1 1 parameter no.71 note. 0: cm1/cm2-vin off (open) 1: cm1/cm2-vin on (short) gain changing cdp when using this signal, make it usable by the setting of parameter no.43 to 48. connect cdp-vin to change the load inertia moment ratio into the parameter no.61 setting and the gain values into the values multiplied by the parameter no.62 to 64 settings. di-1 control change lop used to select the control mode in the position/internal speed control change mode. di-1 (note) lop control mode 0 position 1 internal speed note. 0: lop-vin off (open) 1: lop-vin on (short) refer to functions /appli- cations forward rotation pulse train reverse rotation pulse train pp np pg ng cn1-23 cn1-25 cn1-22 cn1-24 used to enter a command pulse train. in the open collector system (max. input frequency 200kpps). forward rotation pulse train across pp-sg reverse rotation pulse train across np-sg in the differential receiver system (max. input frequency 500kpps). forward rotation pulse train across pg-pp reverse rotation pulse train across ng-np the command pulse train form can be changed using parameter no.21. di-2
3 - 16 3. signals and wiring (2) output signals control mode signal symbol connector pin no. functions/applications i/o division p s trouble alm cn1-9 alm-vin are disconnected when power is switched off or the protective circuit is activated to shut off the base circuit. without alarm, alm-vin are connected within about 1s after power on. do-1 ready rd cn1-11 rd-vin are connected when the servo is switched on and the servo amplifier is ready to operate. do-1 in position inp cn1-10 inp-vin are connected when the number of droop pulses is in the preset in-position range. the in-position range can be changed using parameter no.5. when the in-position range is increased, inp-vin may be kept connected during low-speed rotation. do-1 speed reached sa sa turns off when servo on (son) turns off or the servo motor speed has not reached the preset speed with both forward rotation start (st1) and reverse rotation start (st2) turned o ff. sa turns on when the servo motor speed has nearly reached the preset speed. when the preset speed is 20r/min or less, sa always turns on. do-1 zero speed zsp cn1-12 zsp-vin are connected when the servo motor speed is zero speed (50r/min) or less. zero speed can be changed using parameter no.24. do-1 electromagnetic brake interlock mbr (cn1-12) set " 1 " in parameter no.1 to use this parameter. note that zsp will be unusable. in the servo-off or alarm status, mbr-vin are disconnected. when an alarm occurs, they are disconnected independently of the base circuit status. do-1 warning wng to use this signal, assign the connector pin for output using parameter no.49. the old signal before assignment will be unusable. when warning has occurred, wng-vin are connected. when there is no warning, wng-vin are disconnected within about 1s after power-on. do-1
3 - 17 3. signals and wiring control mode signal symbol connector pin no. functions/applications i/o division p s a larm code to use this signal, set " 1" in parameter no.49. this signal is output when an alarm occurs. when there is no alarm, respective ordinary signals (rd, inp, sa, zsp) are output. alarm codes and alarm names are listed below. do-1 acd 0 acd 1 acd 2 (note) alarm code cn1 12 pin cn1 11 pin cn1 10 pin alarm display name 88888 watchdog al.12 memory error 1 al.13 clock error al.15 memory error 2 0 0 0 al.17 board error al.19 memory error 3 al.37 parameter error al.8a serial communication timeout al.8e serial communication error al.30 regenerative error 0 1 0 al.33 overvoltage 0 0 1 al.10 undervoltage al.45 main circuit device al.46 servo motor overheat 0 1 1 al.50 overload 1 al.51 overload 2 al.24 main circuit error 1 0 0 al.32 overcurrent al.31 overspeed 1 1 0 al.35 command pulse frequency alarm al.52 error excessive al.16 encoder error 1 1 0 1 al.1a monitor combination error al.20 encoder error 2 note. 0: pin-vin off (open) 1: pin-vin on (short)
3 - 18 3. signals and wiring control mode signal symbol connector pin no. functions/applications i/o division p s encoder z-phase pulse (open collector) op cn1-21 outputs the zero-point signal of the encoder. one pulse is output per servo motor revolution. op and lg are connected when the zero-point position is reached. (negative logic) the minimum pulse width is about 400 s. for home position return using this pulse, set the creep speed to 100r/min. or less. do-2 encoder a-phase pulse (differential line driver) la lar cn1-15 cn1-16 do-2 encoder b-phase pulse (differential line driver) lb lbr cn1-17 cn1-18 outputs pulses per servo motor revolution set in parameter no.27 in the differential line driver system. in ccw rotation of the servo motor, the encoder b-phase pulse lags the encoder a-phase pulse by a phase angle of /2. the relationships between rotation direction and phase difference of the a- and b-phase pulses can be changed using parameter no.54. encoder z-phase pulse (differential line driver) lz lzr cn1-19 cn1-20 the same signal as op is output in the differential line driver system. do-2 analog monitor 1 mo1 cn3-4 used to output the data set in parameter no.17 to across mo1-lg in terms of voltage. resolution 10 bits analog output analog monitor 2 mo2 cn3-6 used to output the data set in parameter no.17 to across mo2-lg in terms of voltage. resolution 10 bits analog output (3) communication control mode signal symbol connector pin no. functions/applications i/o division p s rs-232c i/f rxd txd cn3-1 cn3-2 rs-232c communication interface. (4) power supply control mode signal symbol connector pin no. functions/applications i/o division p s digital i/f power supply input vin cn1-1 used to input 24vdc for input interface. connect the positive terminal of the 24vdc external power supply. 24vdc 10 open collector power input opc cn1-2 when inputting a pulse train in the open collector system, supply this terminal with the positive ( ) power of 24vdc. digital i/f common sg cn1-13 common terminal for output signals such as alm and inp. separated from lg. control common lg cn1-14 common terminal for op, mo1, and mo2. pins are connected internally. shield sd plate connect the external conductor of the shield cable.
3 - 19 3. signals and wiring 3.4 detailed description of the signals 3.4.1 position control mode (1) pulse train input (a) input pulse waveform selection encoder pulses may be input in any of three different forms, for which positive or negative logic can be chosen. set the command pulse train form in parameter no.21. arrow or in the table indicates the 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 pulse train reverse rotation pulse train pp np 0000 pulse train sign pp np h l 0001 positive logic a-phase pulse train b-phase pulse train pp np 0002
3 - 20 3. signals and wiring (b) connections and waveforms 1) open collector system connect as shown below. sg sd opc pp np servo amplifier approx. 1.2k approx. 1.2k external power supply 24vdc (note) note. pulse train input interface is comprised of a photo coupler. therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line. the explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter no.21 has been set to 0010). the waveforms in the table in (1) (a) of this section are voltage waveforms of pp and np based on sg. their relationships with transistor on/off are as follows. (on) (off) (on) (off) (on) (off) (on) (off) forward rotation pulse train (transistor) reverse rotation pulse train (transistor) (on) (off) forward rotation command reverse rotation command (off)
3 - 21 3. signals and wiring 2) differential line driver system connect as shown below. pp np pg ng sd servo amplifier (note) approx. 100 approx. 100 note. pulse train input interface is comprised of a photo coupler. therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line. the explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter no.21 has been set to 0010). for the differential line driver, the waveforms in the table in (1) (a) of this section are as follows. the waveforms of pp, pg, np and ng are based on that of the ground of the differential line driver. pp pg np ng forward rotation pulse train reverse rotation pulse train forward rotation command reverse rotation command
3 - 22 3. signals and wiring (2) in-position (inp) pf-vin are connected when the number of droop pulses in the deviation counter falls within the preset in- position range (parameter no.5). inp-vin may remain connected when low-speed operation is performed with a large value set as the in-position range. servo-on (son) alarm droop pulses in position (inp) on off yes no in-position range on off (3) ready (rd) servo-on (son) 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-vin and cm2-vin gives you a choice of four different electronic gear numerators set in the parameters. as soon as cm1/cm2 is turned on or off, the numerator of the electronic gear changes. therefore, if any shock occurs at this change, use position smoothing (parameter no.7) to relieve shock. (note) external input signal cm2 cm1 electronic gear numerator 0 0 parameter no.3 0 1 parameter no.69 1 0 parameter no.70 1 1 parameter no.71 note. 0: cm1/cm2-vin off(open) 1: cm1/cm2-vin on(short)
3 - 23 3. signals and wiring (5) torque limit caution releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position deviation from the instructed position. (a) torque limit and torque by setting parameter no.28 (internal torque limit 1), torque is always limited to the maximum value during operation. a relationship between the limit value and servo motor torque is shown below. 0 0 100 max. torque torque torque limit value [%] (b) torque limit value selection when internal torque limit selection (tl1) is made usable by parameter no.43 to 48, internal torque limit 2 (parameter no.76) can be selected. however, if the parameter no.28 value is less than the limit value selected by parameter no.76, the parameter no.28 value is made valid. (note) external input signals tl1 torque limit value 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 note. 0: tl/tl1-vin off (open) 1: tl/tl1-vin on (short)
3 - 24 3. signals and wiring 3.4.2 internal speed control mode (1) speed setting (a) speed command and speed the servo motor is run at the speeds set in the parameters. 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 1) external input signals (note 2) rotation direction st2 st1 internal speed commands 0 0 stop (servo lock) 0 1 ccw 1 0 cw 1 1 stop (servo lock) note 1. 0: st1/st2-vin off (open) 1: st1/st2-vin on (short) 2. releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position deviation from the instructed position. the forward rotation start (st1) and reverse rotation start (st2) can be assigned to any pins of the connector cn1 using parameters no.43 to 48. generally, make connection as shown below. st1 st2 vin sd servo amplifier
3 - 25 3. signals and wiring (b) speed selection 1 (sp1), speed selection 2 (sp2), speed selection 3 (sp3) and speed command value by making speed selection 1 (sp1), speed selection 2 (sp2) and speed selection 3 (sp3) usable by setting of parameter no.43 to 47, you can choose the speed command values of internal speed commands 1 to 7. (note) external input signals sp3 sp2 sp1 speed command value 0 0 0 internal speed command 1 (parameter no.8) 0 0 1 internal speed command 1 (parameter no.8) 0 1 0 internal speed command 2 (parameter no.9) 0 1 1 internal speed command 3 (parameter no.10) 1 0 0 internal speed command 4 (parameter no.72) 1 0 1 internal speed command 5 (parameter no.73) 1 1 0 internal speed command 6 (parameter no.74) 1 1 1 internal speed command 7 (parameter no.75) note. 0: sp1/sp2/sp3-vin off (open) 1: sp1/sp2/sp3-vin on (short) the speed may be changed during rotation. in this case, the values set in parameters no.11 and 12 are used for acceleration/deceleration. when the speed has been specified under any internal speed command, it does not vary due to the ambient temperature. (2) speed reached (sa) sa-vin are connected when the servo motor speed nearly reaches the speed set to the internal speed command. on off on off set speed selection internal speed command 1 internal speed command 2 start (st1,st2) servo motor speed speed reached (sa) (3) torque limit as in section 3.4.1 (5).
3 - 26 3. signals and wiring 3.4.3 position/internal speed control change mode set "0001" in parameter no.0 to switch to the position/internal speed control change mode. this function is not available in the absolute position detection system. (1) control change (lop) use control change (lop) to switch between the position control mode and the internal speed control mode from an external contact. relationships between lop-vin status and control modes are indicated below. (note) lop servo control mode 0 position control mode 1 speed control mode note. 0: lop-vin off (open) 1: lop-vin on (short) 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 lop has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be c hanged. a change timing chart is shown below. on off on off position control mode internal speed control mode servo motor speed zero speed (zsp) control change (lop) zero speed level (note) note. when zero speed (zsp) is not on, control cannot be changed if control change (lop) is switched on-off. if zero speed (zsp) switches on after that, control cannot not be changed. (note) position control mode (2) torque limit in position control mode as in section 3.4.1 (5).
3 - 27 3. signals and wiring (3) internal speed setting in speed control mode (a) speed command and speed the servo motor is run at the speed set in parameter no.8 (internal speed command 1) the forward rotation start (st1) and reverse rotation start (st2) are as in section 3.4.2 (1) (a). generally, make connection as shown below. sp2 vin sd servo amplifier (b) speed selection 2 (sp2) and speed command value use speed selection 2 (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-vin off (open) 1: sp1-vin on (short) the speed may also be changed during rotation. in this case, it is increased or decreased according to the value set in parameter no.11 or 12. when the internal speed command 1 is used to command the speed, the speed does not vary with the ambient temperature. (c) speed reached (sa) as in section 3.4.2 (2).
3 - 28 3. signals and wiring 3.5 alarm occurrence timing chart caution when an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. as soon as an alarm occurs, turn off servo-on (son) and power off the power supply. when an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. switch off the power supply in the external sequence. to reset the alarm, switch the power supply from off to on, press the "set" button on the current alarm screen, or turn the reset (res) from off to on. however, the alarm cannot be reset unless its cause is removed. on off on off on off on off on off on off 2s brake operation 50ms or more 60ms or more alarm occurs. remove cause of trouble. brake operation power off power on valid invalid power supply base circuit dynamic brake servo-on (son) reset (res) ready (rd) trouble (alm) (note) note. shut off the power as soon as an alarm occurs. (1) overcurrent, overload 1 or overload 2 if operation is repeated by switching power off, then on to reset the overcurrent (al.32), overload 1 (al.50) or overload 2 (al.51) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise. securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation. (2) regenerative error if operation is repeated by switching power off, then on to reset the regenerative (al.30) alarm after its occurrence, the external regenerative resistor will generate heat, resulting in an accident. (3) instantaneous power failure undervoltage (al.10) occurs when the input power is in either of the following statuses. a power failure of the control circuit power supply continues for 60ms or longer and the control circuit is not completely off. the bus voltage dropped to 200vdc. (4) in position control mode (incremental) when an alarm occurs, the home position is lost. when resuming operation after deactivating the alarm, make a home position return.
3 - 29 3. signals and wiring 3.6 interfaces 3.6.1 common line the following diagram shows the power supply and its common line. < isolated > cn1 cn1 son, etc. sg opc pg ng pp np sg sd op lg la etc. mr mrr sd m di-1 vin lg sd cn3 cn2 sd mo1 mo2 lg sg txd rxd rs-232c lar etc. lg alm, etc. do-1 ra external power supply 24vdc (note) servo motor ground servo motor encoder analog monitor output differential line driver output 35ma max. note. for the open collection pulse train input. make the following connection for the different line driver pulse train input. pp np pg ng sg opc
3 - 30 3. signals and wiring 3.6.2 detailed description of the interfaces this section gives the details of the i/o signal interfaces (refer to i/o division in the table) indicated in section 3.3.2. refer to this section and connect the interfaces with the external equipment. (1) digital input interface di-1 give a signal with a relay or open collector transistor. servo amplifier sg son, etc. r: approx. 4.7k vin external power supply 24vdc 200ma or more (2) digital output interface do-1 a lamp, relay or photocoupler can be driven. provide a diode (d) for an inductive load, or an inrush current suppressing resistor (r) for a lamp load. (rated current: 40ma or less, maximum current: 50ma or less, inrush current: 100ma or less) (a) inductive load (note) external power supply 24vdc 10% if polarity of diode is reversed, servo amplifier will fail. servo amplifier vin alm, etc. load sg note. if the voltage drop (maximum of 2.6v) interferes with the relay operation, apply high voltage (up to 26.4v) from external source.
3 - 31 3. signals and wiring (b) lamp load servo amplifier vin alm, etc. r sg (note) external power supply 24vdc 10% note. if the voltage drop (maximum of 2.6v) interferes with the relay operation, apply high voltage (up to 26.4v) from external source. (3) pulse train input interface di-2 provide a pulse train signal in the open collector or differential line driver system. (a) open collector system 1) interface opc pp, np sg sd servo amplifier max. input pulse frequency 200kpps approx. 1.2k external power supply 24vdc 2m (78.74in) or less (note) note. pulse train input interface is comprised of a photo coupler. therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line. 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
3 - 32 3. signals and wiring (b) differential line driver system 1) interface sd pg(ng) pp(np) max. input pulse frequency 500kpps servo amplifier am26ls31 or equivalent 10m or less approx. 100 v oh : 2.5v v ol : 0.5v (note) note. pulse train input interface is comprised of a photo coupler. therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line. 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 photocouple r sd max. output current : 35m a lg servo amplifier op sd lg
3 - 33 3. signals and wiring (b) differential line driver system 1) interface max. output current: 35ma la (lb, lz) lar (lbr, lzr) lg sd la (lb, lz) lar (lbr, lzr) sd servo amplifier 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 time cycle (t) is determined by the settings of parameter no.27 and 54. (5) analog output output voltage 10v max. 1ma max. output current resolution: 10bit mo1 (mo2) lg sd a servo amplifie r reading in one or both directions 1ma meter 10k
3 - 34 3. signals and wiring 3.7 input power supply circuit caution always connect a magnetic contactor (mc) between the main circuit power supply and l 1 , l 2 , and l 3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier?s power supply. if a magnetic contactor (mc) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. use the trouble (alm) to switch power off. otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. point the power supply connector (cnp1) is optional. purchase it without fail. 3.7.1 connection example wire the power supply and main circuit as shown below so that the servo-on (son) turns off as soon as alarm occurrence is detected and power is shut off. a circuit breaker (nfb) must be used with the input cables of the power supply. (1) for 3-phase 200 to 230vac power supply 3-phase 200 to 230 vac emergency stop servo-on trouble servo amplifier external power supply 24vdc (note) ra off on mc mc sk nfb mc l 1 l 2 l 3 vin emg son vin alm sg ra cnp1 p d c emergency stop note. to use the built-in regenerative resistor, be sure to connect across p and d of the power supply connector (cnp1).
3 - 35 3. signals and wiring (2) for 1-phase 230vac power supply 1-phase 230vac emergency stop servo-on servo amplifier trouble emergency stop external power supply 24vdc ra off on mc mc sk nfb mc l 1 l 2 l 3 emg son vin vin alm sg ra (note) cnp1 p d c note. to use the built-in regenerative resistor, be sure to connect across p and d of the power supply connector (cnp1). 3.7.2 terminals refer to section 11.1 (4) for the signal arrangement. connected terminal (application) symbol description supply l 1 , l 2 and l 3 with the following power. for 1-phase 230vac, connect the power supply to l 1 , l 2 and l 3 open. l 1 servo amplifier power supply mr-e-10a-qw003 to mr-e-70a-qw003 mr-e-100a-qw003/ mr-e-200a-qw003 l 2 3-phase 200 to 230vac, 50/60hz l 1 l 2 l 3 1-phase 230vac, 50/60hz l 1 l 2 power supply l 3 u v servo motor w connect to the servo motor power terminals (u, v, w). during power-on, do not open or close the motor power line. otherwise, a malfunction or faulty may occur. p c regenerative option d to use the built-in regenerative resistor of the servo amplifier, connect the wiring across p-d of the power supply connector (cnp1). when using the regenerative option, always remove the wiring from across p-d and connect the regenerative option across p-c. refer to section 13.1.1 for details. protective earth (pe) connect this terminal to the protective earth (pe) terminals of the servo motor and control box for grounding.
3 - 36 3. signals and wiring 3.7.3 power-on sequence (1) power-on procedure 1) always wire the power supply as shown in above section 3.7.1 using the magnetic contactor with the power supply (three-phase 200v: l 1 , l 2 , l 3 , single-phase 230v: l 1 , l 2 ). configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) the servo amplifier can accept the servo-on (son) 2s or more after the power supply is switched on. therefore, when son is switched on simultaneously with the power supply, the base circuit will switch on in about 1 to 2s, and the ready (rd) will switch on in further about 20ms, making the servo amplifier ready to operate. (refer to paragraph (2) in this section.) 3) when the reset (res) is switched on, the base circuit is shut off 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 power-on timing chart (3) emergency stop caution provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. make up a circuit which shuts off power as soon as emg-vin are opened at an emergency stop. to ensure safety, always install an external emergency stop switch across emg-vin. by disconnecting emg-vin, the dynamic brake is operated to bring the servo motor to a sudden stop. at this time, the display shows the servo emergency stop warning (al.e6). during ordinary operation, do not use the external emergency stop signal to alternate stop and run. the servo amplifier life may be shortened. also, if the start signal is on or a pulse train is input during an emergency stop, the servo motor will rotate as soon as the warning is reset. during an emergency stop, always shut off the run command. vin emg sg emergency stop external power supply 24vdc
3 - 37 3. signals and wiring 3.8 connection of servo amplifier and servo motor 3.8.1 connection instructions warning insulate the connections of the power supply terminals to prevent an electric shock. caution connect the wires to the correct phase terminals (u, v, w) of the servo amplifier and servo motor. otherwise, the servo motor does not operate properly. do not connect ac power supply directly to the servo motor. otherwise, a fault may occur. during power-on, do not open or close the motor power line. otherwise, a malfunction or faulty may occur. point refer to section 12.1 for the selection of the encoder cable. the connector (cnp2) for supplying the power to the motor is optional. be sure to purchase it. the connection method differs according to the series and capacity of the servo motor and whether or not the servo motor has the electromagnetic brake. perform wiring in accordance with this section. (1) for grounding, connect the earth cable of the servo motor to the protective earth (pe) terminal ( ) of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth (pe) terminal of the control box. do not connect them directly to the protective earth of the control panel. servo amplifier servo moto r pe terminal control box (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 - 38 3. signals and wiring 3.8.2 power supply cable wiring diagrams (1) hf-ke w1-s100 servo motor (a) when cable length is 10m or less cnp2 awg 19 (red) awg 19 (white) awg 19 (black) awg 19 (green/yellow) u v w servo motor servo amplifier m 10m or less mr-pws1cbl m-a1-l mr-pws1cbl m-a2-l mr-pws1cbl m-a1-h mr-pws1cbl m-a2-h 24vdc power supply for electromagnetic brake (note 3) electromagnetic brake interlock (mbr) awg20 awg20 (note 1) trouble (alm) emergency stop (emg) u v w (note 2) mr-bks1cbl m-a1-l mr-bks1cbl m-a2-l mr-bks1cbl m-a1-h mr-bks1cbl m-a2-h note 1. connect a surge absorber as close to the servo motor as possible. 2. there is no polarity in electromagnetic brake terminals (b1 and b2). 3. when using a servo motor with electromagnetic brake, assign the electromagnetic brake interlock (mbr) to external output signal in the parameters no.pa04, pd13 to pd16 and pd18. when fabricating the motor brake cable mr-bks1cbl- m-h, refer to section 13.1.2(5).
3 - 39 3. signals and wiring (b) connector and signal allotment when the cable length exceeds 10m, fabricate an extension cable as shown below. in this case, the motor power supply cable should be within 2m long. refer to section 13.1.2 for the wire used for the extension cable. 50m or less mr-pws1cbl2m-a1-l mr-pws1cbl2m-a2-l mr-pws1cbl2m-a1-h mr-pws1cbl2m-a2-h mr-pws2cbl03m-a1-l mr-pws2cbl03m-a2-l cnp2 awg 19 (red) awg 19 (white) awg 19 (black) awg19 (green/yellow) u v w u v w servo motor servo amplifier m extension cable 2m or less (note 1) b) relay connector for motor power supply cable (note 1) a) relay connector for extension cable 50m or less 24vdc power supply for electromagnetic brake (note 4) electromagnetic brake interlock (mbr) awg20 awg20 mr-bks1cbl2m-a1-l mr-bks1cbl2m-a2-l mr-bks1cbl2m-a1-h mr-bks1cbl2m-a2-h mr-bks2cbl03m-a1-l mr-bks2cbl03m-a2-l (note 2) b1 b2 trouble (alm) 2m or less emergency stop (emg) extension cable (to be fabricated) (note 1) c) relay connector for extension cable (note 1) d) relay connector for motor brake cable (note 3) note 1. use of the following connectors is recommended when ingress protection (ip65) is necessary. relay connector description protective structure a) relay connector for extension cable connector: rm15wtpz-4p(71) cord clamp: rm15wtp-cp(5)(71) (hirose electric) numeral changes depending on the cable od. ip65 b) relay connector for motor power supply cable connector: rm15wtja-4s(71) cord clamp: rm15wtp-cp(8)(71) (hirose electric) numeral changes depending on the cable od. ip65 c) relay connector for extension cable cm10-cr2p- (ddk) wire size: s, m, l ip65 d) relay connector for motor brake cable cm10-sp2s- (ddk) wire size: s, m, l ip65 2. connect a surge absorber as close to the servo motor as possible. 3. there is no polarity in electromagnetic brake terminals (b1 and b2). 4. when using a servo motor with electromagnetic brake, assign the electromagnetic brake interlock (mbr) to external output signal in the parameters no.pa04, pd13 to pd16 and pd18.
3 - 40 3. signals and wiring (2) hf-se jw1-s100 servo motor (a) wiring diagrams refer to section 13.2 for the cables used for wiring. servo motor servo amplifier m u v w u v w cnp2 50m or less b1 b2 24vdc power supply for electromagnetic brake (note 2) electromagnetic brake interlock (mbr) ra2 trouble (alm) ra1 emergency stop (emg) (note 1) note 1. there is no polarity in electromagnetic brake terminals b1 and b2. 2. when using a servo motor with electromagnetic brake, assign the electromagnetic brake interlock (mbr) to external output signal in the parameters no.1. (b) connector and signal allotment the connector fitting the servo motor is prepared as optional equipment. refer to section 13.1.2. for types other than those prepared as optional equipment, refer to chapter. servo motor side connectors servo motor encoder power supply electromagnetic brake hf-se52jw1-s100 hf-se102jw1-s100 hf-se152jw1-s100 ms3102a18-10p hf-se202jw1-s100 ms3102a20-29p ms3102a22-22p cn10-r2p (ddk) b c a detector connector signal allotment ms3102a20-29p power supply connector signal allotment ms3102a18-10p ms3102a22-22p brake connector signal allotment cm10-r2p pin signal pin signal terminal no. signal terminal no. signal a md k a u b mdr l b v 1 b1 (note) c mr m cont c w d mrr n shd d (earth) 2 b2 (note) view a a n g s r t p hf j e k d l m b c e p cd a b view b 1 2 view c f r p5g g s p5e h t j note. for the motor with electromagnetic brake, supply electromagnetic brake power (24vdc). there is no polarity.
3 - 41 3. signals and wiring 3.9 servo motor with electromagnetic brake 3.9.1 precautions caution configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop (emg). contacts must be open when servo-off, when an trouble (alm) and when an electromagnetic brake interlock (mbr). electromagnetic brake circuit must be opened during emergency stop (emg). son ra emg 24vdc the electromagnetic brake is provided for holding purpose and must not be used for ordinary braking. before performing the operation, be sure to confirm that the electromagnetic brake operates properly. point refer to chapter 14 for specifications such as the power supply capacity and operation delay time of the electromagnetic brake. refer to section 3.8 for wiring diagrams. note the following when the servo motor equipped with electromagnetic brake is used. 1) set " 1 " in parameter no.1 to make the electromagnetic brake interlock (mbr) valid. note that this will make the zero speed signal (zsp) unavailable. 2) do not share the 24vdc interface power supply between the interface and electromagnetic brake. always use the power supply designed exclusively for the electromagnetic brake. 3) the brake will operate when the power (24vdc) switches off. 4) while the reset (res) is on, the base circuit is shut off. when using the servo motor with a vertical shaft, use the electromagnetic brake interlock (mbr). 5) switch off the servo-on signal after the servo motor has stopped. 3.9.2 setting 1) set " 1 " in parameter no.1 to make the electromagnetic brake interlock (mbr) valid. 2) using parameter no.33 (electromagnetic brake sequence output), set a delay time (tb) at servo-off from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in section 3.9.3.
3 - 42 3. signals and wiring 3.9.3 timing charts (1) servo-on signal command (from controller) on/off tb [ms] after the servo-on (son) signal is switched off, the servo lock is released and the servo motor coasts. if the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (tb) to about the same as the electromagnetic brake operation delay time to prevent a drop. servo motor speed electromagnetic brake (mbr) on off base circuit invalid(on) valid(off) on off servo-on(son) electromagnetic brake operation delay time tb coasting 0 r/min (60ms) (80ms) (2) emergency stop (emg) on/off servo motor speed electromagnetic brake interlock (mbr) on off base circuit invalid (on) valid (off) emergency stop (emg) (10ms) (180ms) (180ms) dynamic brake dynamic brake electromagnetic brake electromagnetic brake invalid (on) valid (off) electromagnetic brake operation delay time electromagnetic brake release
3 - 43 3. signals and wiring (3) alarm occurrence servo motor speed on off base circuit electromagnetic brake interlock (mbr) invalid(on) valid(off) trouble (alm) no(on) yes(off) dynamic brake dynamic brake electromagnetic brake electromagnetic brake operation delay time electromagnetic brake (10ms) (4) power off servo motor speed on off base circui t electromagnetic brake interlock(mbr) invalid(on) valid(off) trouble (alm) no(on) yes(off) on off dynamic brake dynamic brake electromagnetic brake electromagnetic brake power (note) 15 to 100ms (10ms) electromagnetic brake operation delay time note. changes with the operating status. (note 2)
3 - 44 3. signals and wiring 3.10 grounding warning ground the servo amplifier and servo motor securely. to prevent an electric shock, always connect the protective earth (pe) terminal (terminal marked ) of the servo amplifier with the protective earth (pe) of the control box. the servo amplifier switches the power transistor on-off to supply power to the servo motor. depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. to prevent such a fault, refer to the following diagram and always ground. to conform to the emc directive, refer to the emc installation guidelines (ib(na)67310). control box servo amplifier l 1 l 2 l 3 cn1 line filter nfb mc protective earth(pe) cn2 u v w outer box servo motor ensure to connect it to pe terminal of the servo amplifier. do not connect it directly to the protective earth of the control panel. encoder m u v w (note) power supply programmable controllers note. for 1-phase 230vac, connect the power supply to l 1 , l 2 and leave l 3 open. refer to section 1.3 for the power supply specification.
3 - 45 3. signals and wiring 3.11 servo amplifier connectors (cnp1, cnp2) wiring method (when mr-ecpn1-b and mr-ecpn2-b of an option are used.) point for the wire sizes used for wiring, refer to table 13.1 1), 2) and 3) of section 13.2.1. (1) termination of the cables solid wire: after the sheath has been stripped, the cable can be used as it is. 8 to 9 mm twisted wire: use the cable after stripping the sheath and twisting the core. at this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. do not solder the core as it may cause a contact fault.
3 - 46 3. signals and wiring (2) inserting the cable into the connector (a) applicable flat-blade screwdriver dimensions always use the screwdriver shown here to do the work. [unit: mm] 3 0.6 (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.
3 - 47 3. signals and wiring (c) when using the flat-blade screwdriver - part 2 1) 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.
3 - 48 3. signals and wiring 3.12 instructions for the 3m connector when fabricating an encoder cable or the 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
4 - 1 4. operation 4. operation 4.1 when switching power on for the first time before starting operation, check the following. (1) wiring (a) a correct power supply is connected to the power input terminals (l 1 , l 2 , l 3 ) of the servo amplifier. (b) the servo motor power supply terminals (u, v, w) of the servo amplifier match in phase with the power input terminals (u, v, w) of the servo motor. (c) the servo motor power supply terminals (u, v, w) of the servo amplifier are not shorted to the power input terminals (l 1 , l 2 , l 3 ) of the servo motor. (d) the earth terminal of the servo motor is connected to the pe terminal of the servo amplifier. (e) when using the regenerative option, the lead has been removed from across d-p of the servo amplifier built-in regenerative resistor, and twisted cables are used for its wiring. (f) when stroke end limit switches are used, the signals across lsp-vin and lsn-vin are on during operation. (g) 24vdc or higher voltages are not applied to the pins of connectors cn1. (h) sd and sg of connectors cn1 are not shorted. (i) the wiring cables are free from excessive force. (2) environment signal cables and power cables are not shorted by wire offcuts, metallic dust or the like. (3) machine (a) the screws in the servo motor installation part and shaft-to-machine connection are tight. (b) the servo motor and the machine connected with the servo motor can be operated.
4 - 2 4. operation 4.2 startup warning do not operate the switches with wet hands. you may get an electric shock. caution before starting operation, check the parameters. some machines may perform unexpected operation. take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. their temperatures may be high and you may get burnt or a parts may damaged. during operation, never touch the rotating parts of the servo motor. doing so can cause injury. connect the servo motor with a machine after confirming that the servo motor operates properly alone. 4.2.1 selection of control mode use parameter no.0 to choose the control mode used. after setting, this parameter is made valid by switching power off, then on. 4.2.2 position control mode (1) power on 1) switch off the servo-on (son). 2) when power is switc hed on, the display shows "c (cumulative feedback pulses)", and in two second later, shows data. (2) test operation 1 confirm servo motor operation by operating jog of test operation mode at lowest speed possible. (refer to section 6.8.2) (3) parameter setting set the parameters according to the structure and specifications of the machine. refer to chapter 5 for the parameter definitions and to section 6.5 for the setting method. 4 1 5 description parameter no. name setting control mode, regenerative option selection 0 function selection 1 1 auto tuning 2 3 1 1 position control mode mr-rb12 regenerative option is used. input filter 3.555ms (initial value) electromagnetic brake interlock (mbr) is not used. used in incremental positioning system. 3 0 02 0 middle response (initial value) is selected. auto tuning mode 1 is selected. electronic gear numerator electronic gear denominator electronic gear denominator (cdv) electronic gear numerator (cmx) turn the power off after setting parameters no.0 and 1. then switch power on again to make the set parameter values valid.
4 - 3 4. operation (4) servo-on switch the servo-on in the following procedure. 1) switch on power supply. 2) switch on the servo-on (son). when placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked. (5) command pulse input entry of a pulse train from the positioning device rotates the servo motor. at first, run it at lowest speed possible and check the rotation direction, etc. if it does not run in the intended direction, check the input signal. on the status display, check the speed, command pulse frequency, load factor, etc. of the servo motor. when machine operation check is over, check automatic operation with the program of the positioning device. this servo amplifier has a real-time auto tuning function under model adaptive control. performing operation automatically adjusts gains. the optimum 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 for the servo motor equipped with electromagnetic brake. note that the stop pattern of forward rotation stroke end (lsp), reverse rotation stroke end (lsn) off is as described below. (a) servo-on (son) off the base circuit is shut off and the servo motor 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 (servo emergency stop warning) occurs. (d) forward rotation stroke end (lsp), reverse rotation stroke end (lsn) off the droop pulse value is erased and the servo motor is stopped and servo-locked. it can be run in the opposite direction.
4 - 4 4. operation 4.2.3 internal speed control mode (1) power on 1) switch off the servo-on (son). 2) when circuit power is switched on, the display shows "r (servo motor speed)", and 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 section 6.5 for the setting method. 10 1 5 description parameter no. name setting control mode, regenerative option selection 0 function selection 1 1 auto tuning 2 8 1000 9 1500 internal speed control mode regenerative option is not used. input filter 3.555ms (initial value) electromagnetic brake interlock (mbr) is used. 0 2 12 middle response (initial value) is selected. auto tuning mode 1 is selected. set 1000r/min. set 1500r/min. internal speed command 1 internal speed command 1 2000 set 2000r/min. internal speed command 1 11 1000 set 1000ms. acceleration time constant 12 500 set 500ms. deceleration time constant 13 0 not used s-pattern acceleration/deceleration time constant turn the power off after setting parameters no.0 and 1. then switch power on again to make the set parameter values valid. (4) servo-on switch the servo-on in the following procedure. 1) switch on circuit power supply. 2) switch on the servo-on (son) signal. (short between son and vin.) when placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
4 - 5 4. operation (5) start using speed selection 1 (sp1) and speed selection 2 (sp2), choose the servo motor speed. turn on forward rotation start (st1) to run the motor in the forward rotation (ccw) direction or reverse rotation start (st2) to run it in the reverse rotation (cw) direction. at first, set a low speed and check the rotation direction, etc. if it does not run in the intended direction, check the input signal. on the status display, check the speed, load factor, etc. of the servo motor. when machine operation check is over, check automatic operation with the host controller or the like. this servo amplifier has a real-time auto tuning function under model adaptive control. performing operation automatically adjusts gains. the optimum tuning results are provided 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 for the servo motor equipped with electromagnetic brake. note that simultaneous on or simultaneous off of forward rotation stroke end (lsp), reverse rotation stroke end (lsn) off and forward rotation start (st1) or reverse rotation start (st2) signal has the same stop pattern as described below. (a) servo-on (son) off the base circuit is shut off and the servo motor coasts. (b) alarm 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 (servo emergency stop warning) occurs. (d) forward rotation stroke end (lsp), reverse rotation stroke end (lsn) off the servo motor is brought to a sudden stop and servo-locked. the motor may be run in the opposite direction. (e) simultaneous on or simultaneous off of forward rotation start (st1) and reverse rotation start (st2) signals the servo motor is decelerated to a stop. point a sudden stop indicates deceleration to a stop at the deceleration time constant of zero.
4 - 6 4. operation memo
5 - 1 5. parameters 5. parameters caution never adjust or change the parameter values extremely as it will make operation instable. 5.1 parameter list 5.1.1 parameter write inhibit point after setting the parameter no.19 value, switch power off, then on to make that setting valid. this servo amplifier, its parameters are classified into the basic parameters (no.0 to 19), expansion parameters 1 (no.20 to 49) and expansion parameters 2 (no.50 to 84) according to their safety aspects and frequencies of use. in the factory setting condition, the customer can change the basic 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 setting operation basic parameters no.0 to 19 expansion parameters 1 no.20 to 49 expansion parameters 2 no.50 to 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
5 - 2 5. parameters 5.1.2 lists point for any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. the symbols in the control mode column of the table indicate the following modes. p: position control mode s: internal speed control mode (1) item list no. symbol name control mode initial value unit customer setting 0 *sty control mode, regenerative option selection p s (note 1) 1 *op1 function selection 1 p s 0002 2 atu auto tuning p s 0105 3 cmx electronic gear numerator 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 (position smoothing) p 3 ms 8 sc1 internal speed command 1 s 100 r/min 9 sc2 internal speed command 2 s 500 r/min 10 sc3 internal speed command 3 s 1000 r/min 11 sta acceleration time constant s 0 ms 12 stb deceleration time constant s 0 ms 13 stc s-pattern acceleration/deceleration time constant s 0 ms 14 for manufacturer setting 0 15 *sno station number setting p s 0 station 16 *bps serial communication function selection, alarm history clear p s 0000 17 mod analog monitor output p s 0100 18 *dmd status display selection p s 0000 basic parameters 19 *blk parameter write inhibit p s 0000
5 - 3 5. parameters no. symbol name control mode initial value unit customer setting 20 *op2 function selection 2 p s 0000 21 *op3 function selection 3 (command pulse selection) p 0000 22 *op4 function selection 4 p s 0000 23 ffc feed forward gain p 0 24 zsp zero speed p s 50 r/min 25 for manufacturer setting 0 26 for manufacturer setting 100 27 *enr encoder output pulses p s 4000 pulse /rev 28 tl1 internal torque limit 1 p s 100 29 for manufacturer setting 0 30 for manufacturer setting 0 31 mo1 analog monitor 1 offset p s 0 mv 32 mo2 analog monitor 2 offset p s 0 mv 33 mbr electromagnetic brake sequence output p s 100 ms 34 gd2 ratio of load inertia moment to servo motor inertia moment p s 70 multiplier ( 10 1 ) 35 pg2 position loop gain 2 p 35 rad/s 36 vg1 speed loop gain 1 p s 177 rad/s 37 vg2 speed loop gain 2 p s 817 rad/s 38 vic speed integral compensation p s 48 ms 39 vdc speed differential compensation p s 980 40 for manufacturer setting 0 41 *dia input signal automatic on selection p s 0000 42 *di1 input signal selection 1 p s 0002 43 *di2 input signal selection 2 (cn1-4) p s 0111 44 *di3 input signal selection 3 (cn1-3) p s 0882 45 *di4 input signal selection 4 (cn1-5) p s 0995 46 *di5 input signal selection 5 (cn1-6) p s 0000 47 *di6 input signal selection 6 (cn1-7) p s 0000 48 *lspn lsp/lsn input terminals selection p s 0403 expansion parameters 1 49 *do1 output signal selection 1 p s 0000
5 - 4 5. parameters no. symbol name control mode initial value unit customer setting 50 for manufacturer setting 0000 51 *op6 function selection 6 p s 0000 52 for manufacturer setting 0000 53 *op8 function selection 8 p s 0000 54 *op9 function selection 9 p s 0000 55 *opa function selection a p 0000 56 sic serial communication time-out selection p s 0 s 57 for manufacturer setting 10 58 nh1 machine resonance suppression filter 1 p s 0000 59 nh2 machine resonance suppression filter 2 p s 0000 60 lpf low-pass filter/adaptive vibration suppression control p s 0000 61 gd2b ratio of load inertia moment to servo motor inertia moment 2 p s 70 multiplier ( 10 1 ) 62 pg2b position control gain 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 3 p 1 71 cmx4 command pulse multiplying factor numerator 4 p 1 72 sc4 internal speed command 4 s 200 r/min 73 sc5 internal speed command 5 s 300 r/min 74 sc6 internal speed command 6 s 500 r/min 75 sc7 internal speed command 7 s 800 r/min 76 tl2 internal torque limit 2 p s 100 77 100 78 10000 79 10 80 10 81 100 82 100 83 100 expansion parameters 2 84 for manufacturer setting 0000 note 1. depends on the capacity of the servo amplifier. 2. depends on the parameter no.65 setting.
5 - 5 5. parameters (2) details list class no. symbol name and function initial value unit setting range control mode control mode, regenerative option selection used to select the control mode and regenerative option. selection of regenerative option 0: regenerative option is not used for the servo amplifier of 200w or lower, regenerative resistor is not used. for the servo amplifier of 400w or higher, built-in regenerative resistor is used. 2: mr-rb032 3: mr-rb12 4: mr-rb32 5: mr-rb30 6: mr-rb50 (cooling fan is required) select the control mode. 0: position 1: position and internal speed 2: internal speed motor series selection 0: hf-ke w1-s100 1: hf-se jw1-s100 motor capacity selection 0: 100w 1: 200w 2: 400w 3: 500w 4: 750w 5: 1kw 6: 1.5kw 7: 2kw point wrong setting may cause the regenerative option to burn. if the regenerative option selected is not for use with the servo amplifier, parameter error (al.37) occurs. 0 *sty 100w : 0000 200w : 1000 400w : 2000 750w : 4000 1kw : 5010 2kw : 6010 refer to name and function column. p s basic parameters 1 *op1 function selection 1 used to select the input signal filter, the function of pin cn1-12. input signal filter if external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: none 1: 1.777[ms] 2: 3.555[ms] 3: 5.333[ms] cn1-12 function selection 0: zero speed detection signal 1: electromagnetic brake interlock (mbr) 0 0 0002 refer to name and function column. p s
5 - 6 5. parameters class no. symbol name and function initial value unit setting range control mode 2 atu auto tuning used to selection the response level, etc. for execution of auto tuning. refer to chapter 7. auto tuning response level setting if the machine hunts or generates large gear sound, decrease the set value. to improve performance, e.g. shorten the settling time, increase the set value. set value response level 1 low response middle response high response gain adjustment mode selection (for more information, refer to section 7.1.1.) machine resonance frequency guideline 15hz 2 20hz 3 25hz 4 30hz 5 35hz 6 45hz 7 55hz 8 70hz 9 85hz a 105hz b 130hz c 160hz d 200hz e 240hz f300hz set value gain adjustment mode 0 description 1 3 simple manual adjustment. 4 manual adjustment of all gains. interpolation mode fixes position control gain 1 (parameter no.6). auto tuning mode 1 fixes the load inertia moment ratio set in parameter no.34. response level setting can be changed. manual mode 1 manual mode 2 2 auto tuning mode 2 ordinary auto tuning. 0 0 0105 refer to name and function column. p s 3 cmx electronic gear numerator used to set the electronic gear numerator value. for the setting, refer to section 5.2.1. setting "0" automatically sets the resolution of the servo motor connected. 1 0 1 to 65535 p basic parameters 4 cdv electronic gear denominator used to set the electronic gear denominator value. for the setting, refer to section 5.2.1. 1 1 to 65535 p
5 - 7 5. parameters class no. symbol name and function initial value unit setting range control mode 5 inp in-position range used to set the in-position signal (inp) output range in the command pulse increments prior to electronic gear calculation. 100 pulse 0 to 10000 p 6 pg1 position loop gain 1 used to set the gain of position loop. increase the gain to improve track ability in response to the position command. when auto turning mode 1,2 is selected, the result of auto turning is automatically used. 35 red/s 4 to 2000 p position command acceleration/deceleration time constant (position smoothing) used to set the time constant of a low-pass filter in response to the position command. you can use parameter no.55 to choose the primary delay or linear acceleration/deceleration control system. w hen you choose linear acceleration/deceleration, the setting range is 0 to 10ms. setting of longer than 10ms is recognized as 10ms. point 7 pst when you have chosen linear acceleration/deceleration, do not select control selection (parameter no.0) and restart after instantaneous power failure (parameter no.20). doing so will cause the servo motor to make a sudden stop at the time of position control switching or restart. 3 ms 0 to 20000 p example: when a command is given from a synchronizing detector, synchronous operation can be started smoothly if started during line operation. synchronizing detector start servo amplifier servo motor without time constant setting servo motor speed start with time constant setting on off t basic parameters 8 sc1 internal speed command 1 used to set speed 1 of internal speed commands. 100 r/min 0 to instan- taneous permis- sible speed s
5 - 8 5. parameters class no. symbol name and function initial value unit setting range control mode 9 sc2 internal speed command 2 used to set speed 2 of internal speed commands. 500 r/min 0 to instan- taneous permis- sible speed s 10 sc3 internal speed command 3 used to set speed 3 of internal speed commands. 1000 r/min 0 to instan- taneous permis- sible speed s 11 sta acceleration time constant used to set the acceleration time required to reach the rated speed from 0r/min in response to the internal speed commands 1 to 7. tim e parameter no.12 setting parameter no.11 setting zero speed rated speed speed if the preset speed command is lower than the rated speed, acceleration/deceleration time will be shorter. for example for the 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 internal speed commands 1 to 7. 0 ms 0 to 20000 s basic parameters 13 stc s-pattern acceleration/deceleration time constant used to smooth start/stop of the servo motor. set the time of the arc part for s-pattern acceleration/deceleration. sta: acceleration time constant (parameter no.11) stb: deceleration time constant (parameter no.12) stc: s-pattern acceleration/deceleration time constant (parameter no.13) speed command servo motor speed 0r/min stc sta stc stc stb stc time long setting of sta (acceleration time constant) or stb (deceleration time constant) may produce an error in the time of the arc part for the setting of the s-pattern acceleration/deceleration time constant. the upper limit value of the actual arc part time is limited by at the setting of sta 20000, stb 5000 and stc 200, the actual arc part times are as follows. for acceleration or by for deceleration. (example) during acceleration: 100[ms] 2000000 20000 100[ms] 200[ms]. limited to 100[ms] since during deceleration: 200[ms] 2000000 5000 400[ms] 200[ms]. 200[ms] as set since 2000000 sta 2000000 stb 0 ms 0 to 1000 s
5 - 9 5. parameters class no. symbol name and function initial value unit setting range control mode 14 for manufacturer setting do not change this value by any means. 0 15 *sno station number setting used to specify the station number for serial communication. always set one station to one axis of servo amplifier. if one station number is set to two or more stations, normal communication cannot be made. 0 station 0 to 31 p s 16 *bps serial communication function selection, alarm history clear used to select the serial communication baud rate, select various communication conditions, and clear the alarm history. serial baud rate selection 0: 9600 [bps] 1: 19200[bps] 2: 38400[bps] 3: 57600[bps] alarm history clear 0: invalid (not cleared) 1: valid (cleared) when alarm history 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 analog monitor (mo1) analog monitor (mo2) output. (refer to section 5.2.2.) setting 0 analog monitor 2 (mo2) servo motor speed ( 8v/max. speed) 1 torque ( 8v/max. torque) 2 servo motor speed ( 8v/max. speed) 3 torque ( 8v/max. torque) 4 current command ( 8v/max. current command) 5 command pulse frequency ( 10v/500kpulse/s) 6 droop pulses ( 10v/128 pulses) 7 droop pulses ( 10v/2048 pulses) 8 droop pulses ( 10v/8192 pulses) 9 droop pulses ( 10v/32768 pulses) a droop pulses ( 10v/131072 pulses) 0 0 b bus voltage ( 8v/400v) analog monitor 1 (mo1) 0100 refer to name and function column. p s
5 - 10 5. parameters class no. symbol name and function initial value unit setting range control mode 18 *dmd status display selection used to select the status display shown at power-on. status display at power-on in corresponding control mode 0: depends on the control mode. 0 0 selection of status display at power-on 0: cumulative feedback pulses 1: servo motor speed 2: droop pulses 3: cumulative command pulses 4: command pulse frequency 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 e: bus voltage 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. 0000 refer to name and function column. p s parameter write inhibit used to select the reference and write ranges of the parameters. operation can be performed for the parameters marked . set value operation basic parameters no.0 to 19 expansion parameters 1 no.20 to 49 expansion parameters 2 no.50 to 84 reference 0000 (initial value) write reference no.19 only 000a write no.19 only reference 000b write reference 000c write reference 000e write reference 100b write no.19 only reference 100c write no.19 only reference 100e write no.19 only basic parameters 19 *blk 0000 refer to name and function column. p s
5 - 11 5. parameters class no. symbol name and function initial value unit setting range control mode 20 *op2 0000 refer to name and function column. s p s function selection 2 used to select restart after instantaneous power failure, servo lock at a stop in internal speed control mode, and slight vibration suppression control. 0: invalid (undervoltage alarm (al.10) occurs.) 1: valid 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" in parameter no.2. used to suppress vibration at a stop. 0: invalid 1: valid encoder cable communication system selection incorrect setting will result in an encoder alarm 1 (al.16) or encoder alarm 2 (al.20). 0: two-wire type 1: four-wire type if the power supply voltage has returned to normal after an undervoltage status caused by the reduction of the input power supply voltage in the speed control mode, the servo motor can be restarted by merely turning on the start signal without resetting the alarm. p s expansion parameters 1 21 *op3 function selection 3 (command pulse selection) used to select the input form of the pulse train input signal. (refer to section 3.4.1.) command pulse train input form 0: forward/reverse rotation pulse train 1: signed pulse train 2: a b-phase pulse train pulse train logic selection 0: positive logic 1: negative logic 0 0 0000 refer to name and function column. p
5 - 12 5. parameters class no. symbol name and function initial value unit setting range control mode 22 *op4 function selection 4 used to select stop processing at forward rotation stroke end (lsp) reverse rotation stroke end (lsn) off and choose tlc/vlc output. 0 0 how to make a stop when forward rotation stroke end (lsp) reverse rotation stroke end (lsn) is valid. (refer to section 5.2.3.) 0: sudden stop 1: slow stop 0 0000 ref er to name and function 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 used to set the output range of the zero speed (zsp). 50 r/min 0 to 10000 p s 25 0 26 for manufacturer setting do not change this value by any means. 100 expansion parameters 1 27 *enr encoder output pulses used to set the encoder pulses (a-phase or b-phase) output by the servo amplifier. set the value 4 times greater than the a-phase or b-phase pulses. you can use parameter no.54 to choose the output pulse designation or output division ratio setting. the number of a b-phase pulses actually output is 1/4 times greater than the preset number of pulses. the maximum output frequency is 1.3mpps (after multiplication by 4). use this parameter within this range. for output pulse designation set "0 " (initial value) in parameter no.54. set the number of pulses per servo motor revolution. output pulse set value [pulses/rev] at the setting of 5600, for example, the actually a b-phase pulses output are as indicated below. 4 5600 a b-phase output pulses 1400[pulse] for output division ratio setting set "1 " in parameter no.54. the number of pulses per servo motor revolution is divided by the set value. output pulse [pulses/rev] resolution per servo motor revolution set value at the setting of 8, for example, the actually a b-phase pulses output are as indicated below. a b-phase output pulses 313[pulse] 8 10000 4 1 4000 pulse/ rev 1 to 65535 p s
5 - 13 5. parameters class no. symbol name and function initial value unit setting range control mode 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. 0: tl1-vin off (open) 1: tl1-vin on (short) when torque is output in analog monitor output, this set value is the maximum output voltage ( 8v). (refer to section 3.4.1 (5)) 29 30 for manufacturer setting do not change this value by any means. 0 31 mo1 analog monitor 1 offset used to set the offset voltage of the analog monitor 1 (mo1). 0 mv 999 to 999 p s 32 mo2 analog monitor 2 offset used to set the offset voltage of the analog monitor 2 (mo2). 0 mv 999 to 999 p s 33 mbr electromagnetic brake sequence output used to set the delay time (tb) between electronic brake interlock (mbr) and the base drive circuit is shut-off. 100 ms 0 to 1000 p s 34 gd2 ratio of load inertia moment to servo motor inertia moment used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. when auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (refer to section 7.1.1) in this case, it varies between 0 and 1000. 70 multi- plier ( 10 1 ) 0 to 3000 p s 35 pg2 position loop gain 2 used to set the gain of the position loop. set this parameter to increase the position response to level load disturbance. higher setting increases the response level but is liable to generate vibration and/or noise. when auto tuning mode 1 2 and interpolation mode is selected, the result of auto tuning is automatically used. 35 rad/s 1 to 1000 p 36 vg1 speed loop gain 1 normally this parameter setting need not be changed. higher setting increases the response level but is liable to generate vibration and/or noise. when auto tuning mode 1 2, manual mode and interpolation mode is selected, the result of auto tuning is automatically used. 177 rad/s 20 to 8000 p s 37 vg2 speed loop gain 2 set this parameter when vibration occurs on machines of low rigidity or large backlash. 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. 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 expansion parameters 1 39 vdc speed differential compensation used to set the differential compensation. made valid when the proportion control (pc) is switched on. 980 0 to 1000 p s
5 - 14 5. parameters class no. symbol name and function initial value unit setting range control mode 40 for manufacturer setting do not change this value by any means. 0 refer to name and function column. p s 41 *dia input signal automatic on selection used to set automatic servo-on (son) forward rotation stroke end (lsp) reverse rotation stroke end (lsn). servo-on (son) input selection 0: switched on/off by external input. 1: switched on automatically in servo amplifier. (no need of external wiring) 0: switched on/off by external input. 1: switched on automatically in servo amplifier. (no need of external wiring) 0: switched on/off by external input. 1: switched on automatically in servo amplifier. (no need of external wiring) reverse rotation stroke end (lsn) input selection forward rotation stroke end (lsp) input selection 0 0000 p s 42 *di1 0002 refer to name and function column. p/s expansion parameters 1 input signal selection 1 used to assign the control mode changing signal input pins and to set the clear (cr). control change (lop) input pin assignment used to set the control mode change signal input connector pins. note that this parameter is made valid when parameter no.0 is set to select the position/internal 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 end (lsp) or reverse rotation stroke end (lsn) is assigned to any pin with parameter no.48, this setting is invalid. p
5 - 15 5. parameters class no. symbol name and function initial value unit setting range control mode expansion parameters 1 43 *di2 input signal selection 2 (cn1-4) allows any input signal to be assigned to cn1-pin 4. note that the setting digit and assigned signal differ according to the control mode. position control mode input signals of cn1-pin 4 selected. internal speed control mode 0 0 signals 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 ps 0 1 2 3 4 5 6 7 8 9 son son res res pc pc sp1 sp2 st1 st2 cr cr a sp3 b c d tl1 e cdp cm1 cm2 tl1 cdp f note. p: position control mode s: internal speed control mode this parameter is unavailable when parameter no.42 is set to assign the control change (lop) to cn1-pin 4. this parameter is unavailable when parameter no.48 is set to assign the forward rotation stroke end (lsp) and reverse rotation stroke end (lsn) to be assigned to cn1-pin 4. 0111 refer to name and function column. p s
5 - 16 5. parameters class no. symbol name and function initial value unit setting range control mode 44 *di3 input signal selection 3 (cn1-3) allows any input signal to be assigned to cn1-pin 3. the assignable signals and setting method are the same as in input signal selection 2 (parameter no.43). position control mode input signals of cn1-pin 3 selected. internal speed control mode 0 0 this parameter is unavailable when parameter no.42 is set to assign the control change (lop) to cn1-pin 3. this parameter is unavailable when parameter no.48 is set to assign the forward rotation stroke end (lsp) and reverse rotation stroke end (lsn) to be assigned to cn1-pin 3. 0882 refer to name and function column. p s 45 *di4 input signal selection 4 (cn1-5) allows any input signal to be assigned to cn1-pin 5. the assignable signals and setting method are the same 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 to cn1-pin 5 0995 refer to name and function column. p s expansion parameters 1 46 *di5 input signal selection 5 (cn1-6) allows any input signal to be assigned to cn1-pin 6. the assignable signals and setting method are the same as in input signal selection 2 (parameter no.43). position control mode input signals of cn1-pin 6 selected. internal speed control mode 0 0 this parameter is unavailable when parameter no.42 is set to assign the control change (lop) to cn1-pin 6. this parameter is unavailable when parameter no.48 is set to assign the reverse rotation stroke end (lsn) to be assigned to cn1-pin 6. 0000 refer to name and function column. p s
5 - 17 5. parameters class no. symbol name and function initial value unit setting range control mode 47 *di6 input signal selection 6 (cn1-7) allows any input signal to be assigned to cn1-pin 7. the assignable signals and setting method are the same as in input signal selection 2 (parameter no.43). position control mode input signals of cn1-pin 7 selected. internal speed control mode 0 0 this parameter is unavailable when parameter no.42 is set to assign the control change signal (lop) to cn1-pin 7. this parameter is unavailable when parameter no.48 is set to assign the forward rotation stroke end (lsp) to be assigned to cn1-pin 7. 0000 refer to name and function column. p s 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 the forward rotation stroke end (lsp) is assigned at pin 6 of cn1 (default setting), the setting of parameter no.46 takes priority. similarly, if the reverse rotation stroke end (lsn) is assigned at pin 7 of cn1 (default setting), the setting of parameter no.47 takes priority. if the forward rotation stroke end (lsp) and reverse rotation stroke end (lsn) are assigned at the same pin, the forward rotation stroke end (lsp) takes priority while the reverse rotation stroke end (lsn) is disabled. cn1-7 cn1-4 cn1-3 cn1-5 cn1-6 3 4 1 2 0 0 0 5 select the pin where the forward rotation stroke end (lsp) will be assigned. set value connector pin no. select the pin where the reverse rotation stroke end (lsn) will be assigned. the settings are the same as those of the first digit. 0403 refer to name and function column. p s
5 - 18 5. parameters class no. symbol name and function initial value unit setting range control mode expansion parameters 1 49 *do1 output signal selection 1 used to select the connector pins to output the alarm code and warning (wng). setting of alarm code output connector pins set value cn1-10 cn1-11 cn1-12 0 inp or sa rd zsp 1 88888 al.12 al.13 al.15 al.17 al.8a al.8e al.30 al.45 al.50 al.51 al.24 al.32 al.31 al.35 al.52 al.16 al.20 name watchdog memory error 1 clock error memory error 2 board error 2 serial communication time-out error serial 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 10 1 cn1 pin 12 1 1 0 1 0 1 0 al.19 memory error 3 al.37 parameter error al.33 overvoltage al.46 servo motor overheat al.10 undervoltage 1 0 0 al.1a motor combination error set value connector pin no. setting of warning (wng) output select the connector pin to output warning. the old signal before selection will be unavailable. 0 not output. 1 cn1-11 2 cn1-9 3 cn1-10 4 cn1-12 0 alarm code is output at alarm occurrence. 0 note. 0: pin-vin off (open) 1: pin-vin on (short) 0000 refer to name and function column. p s
5 - 19 5. parameters class no. symbol name and function initial value unit setting range control mode 50 for manufacturer setting do not change this value by any means. 0000 51 *op6 function selection 6 used to select the operation to be performed when the reset (res) switches on. 0 00 operation to be performed when the reset (res) switches on 0: base circuit shut off 1: base circuit not shut off 0000 refer to name and function column. p s 52 for manufacturer setting do not change this value by any means. 0000 53 *op8 function selection 8 used to select the protocol of serial communication. 0 0 protocol checksum selection 0: yes (checksum added) 1: no (checksum not added) protocol 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 train. set value servo motor rotation direction at forward rotation pulse input at reverse rotation pulse input encoder pulse output phase changing changes the phases of a b-phase encoder pulses output . encoder output pulse setting selection (refer to parameter no.27) 0: output pulse setting 1: division ratio setting servo motor rotation direction set value ccw cw 0 1 a-phase b-phase a-phase b-phase a-phase b-phase a-phase b-phase 0000 refer to name and function column. p s
5 - 20 5. parameters class no. symbol name and function initial value unit setting range control mode 55 *opa function selection a used to select the position command acceleration/deceleration time constant (parameter no.7) control system. 00 0 0: primary delay 1: linear acceleration/deceleration position command acceleration/deceleration time constant control 0000 refer to name and function column. p 0 56 sic serial communication time-out selection used to set the communication protocol time-out period in [s]. when you set "0", time-out check is not made. 0 s 1 to 60 p s 57 for manufacturer setting do not change this value by any means. 10 58 nh1 machine resonance suppression filter 1 used to selection the machine resonance suppression filter. (refer to section 8.2.) 2 3 0 0 1 40db 14db 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 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. p s expansion parameters 2 59 nh2 machine resonance suppression filter 2 used to set the machine resonance suppression filter. 0 notch frequency same setting as in parameter no.58 however, you need not set "00" if you have set adaptive vibration suppression control to be "valid" or "held". notch depth same setting as in parameter no.58 0000 refer to name and function column. p s
5 - 21 5. parameters class no. symbol name and function initial value unit setting range control mode 60 lpf low-pass filter/adaptive vibration suppression control used to selection the low-pass filter and adaptive vibration suppression control. (refer to chapter 8.) 0 low-pass filter selection 0: valid (automatic adjustment) 1: invalid when you choose "valid", 2 (1 gd2 setting 0.1) vg2 setting 10 bandwidth filter is set automatically. adaptive vibration suppression control selection choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter no.58) invalid. 0: invalid 1: valid machine resonance frequency is always detected and the filter is generated in response to resonance to suppress machine 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 [h z ] 0000 refer to name and function column. p s 61 gd2b ratio of load inertia moment to servo motor inertia moment 2 used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid. 70 multi- plier ( 10 1 ) 0 to 3000 p s 62 pg2b position control gain 2 changing ratio used to set the ratio of changing the position control gain 2 when gain changing is valid. made valid when auto tuning is invalid. 100 10 to 200 p 63 vg2b speed control gain 2 changing ratio used to set the ratio of changing the speed control gain 2 when gain changing is valid. made valid when auto tuning is invalid. 100 10 to 200 p s expansion parameters 2 64 vicb speed integral compensation changing ratio used to set the ratio of changing the speed integral compensation when gain changing is valid. made valid when auto tuning is invalid. 100 50 to 1000 p s
5 - 22 5. parameters class no. symbol name and function initial value unit setting range control mode 65 *cdp gain changing selection used to select the gain changing condition. (refer to section 8.5.) 0 00 gain changing selection gains are changed in accordance with the settings of parameters no.61 to 64 under any of the following conditions: 0: invalid 1: gain changing (cdp) is on 2: command frequency is equal to higher than parameter no.66 setting 3: droop pulse value is equal to higher than parameter no.66 setting 4: servo motor speed is equal to higher than parameter no.66 setting 0000 refer to name and function column. p s 66 cds gain changing condition used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter no.65.the set value unit changes with the changing 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 do not change this value by any means. 0 69 cmx2 command pulse multiplying factor numerator 2 used to set the multiplier for the command pulse. setting "0" automatically sets the connected motor resolution. 1 0 1 to 65535 p 70 cmx3 command pulse multiplying factor numerator 3 used to set the multiplier for the command pulse. setting "0" automatically sets the connected motor resolution. 1 0 1 to 65535 p 71 cmx4 command pulse multiplying factor numerator 4 used to set the multiplier for the command pulse. setting "0" automatically sets the connected motor resolution. 1 0 1 to 65535 p expansion parameters 2 72 sc4 internal speed command 4 used to set speed 4 of internal speed commands. 200 r/min 0 to instan- taneous permis- sible speed s
5 - 23 5. parameters class no. symbol name and function initial value unit setting range control mode 73 sc5 internal speed command 5 used to set speed 5 of internal speed commands. 300 r/min 0 to instan- taneous permis- sible speed s 74 sc6 internal speed command 6 used to set speed 6 of internal speed commands. 500 r/min 0 to instant- aneous permis- sible speed s 75 sc7 internal speed command 7 used to set speed 7 of internal speed commands. 800 r/min 0 to instant- aneous permis- sible speed s 76 tl2 internal torque limit 2 set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[ ]. when 0 is set, torque is not produced. when torque is output in analog monitor output, this set value is the maximum output voltage ( 8v). 100 0 to 100 p s 77 100 78 10000 79 10 80 10 81 100 82 100 83 100 expansion parameters 2 84 for manufacturer setting do not change this value by any means. 0000
5 - 24 5. parameters 5.2 detailed description 5.2.1 electronic gear caution wrong setting can lead to unexpected fast rotation, causing injury. point the guideline of the electronic gear setting range is 50 1 cdv cm x 50 . if the set value is outside this range, noise may be generated during acceleration/ deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants. always set the electronic gear with servo off state to prevent unexpected operation due to improper setting. the machine can be moved at any multiplication factor to input pulses. cdv cmx parameter no.4 parameter no.3 electronic gear feedback pulse cmx cdv deviation counter motor encoder input pulse train the following setting examples are used to explain how to calculate the electronic gear. point the following specification symbols are required to calculate the electronic gear pb : ball screw lead [mm] n : reduction ratio pt : servo motor resolution [pulses/rev] 0 : travel per command pulse [mm/pulse] s : travel per servo motor revolution [mm/rev] : angle per pulse [ /pulse] : angle per revolution [ /rev] (1) for motion in increments of 10 m per pulse machine specifications ball screw lead pb 10 [mm] reduction ratio: n 1/2 servo motor resolution: pt 10000 [pulses/rev] servo motor 10000 [pulse/rev] n nm nl pb 10[mm] n nl/nm 1/2 cdv cmx 0 pt s 0 pt n pb 10 10 3 1/2 10 10000 20000 1000 20 1 hence, set 20 to cmx and 1 to cdv.
5 - 25 5. parameters (2) conveyor setting example for rotation in increments of 0.01 per pulse machine specifications table : 360 /rev reduction ratio: n 1/18 servo motor resolution: pt 10000 [pulses/rev] table timing belt : 4/64 servo motor 10000 [pulse/rev] cdv cmx pt 10000 0.01 1/18 360 20 100 1 5 hence, set 5 to cmx and 1 to cdv. 5.2.2 analog monitor the servo status can be output to two channels in terms of voltage. using an ammeter enables monitoring the servo status. (1) setting change the following digits of parameter no.17. analog monitor 1 (mo1) output selection (signal output to across mo1-lg) analog monitor 2 (mo2) output selection (signal output to across mo2-lg) parameter no.17 00 parameters no.31 and 32 can be used to set the offset voltages to the analog output voltages. the setting range is between 999 and 999mv. parameter no. description setting range [mv] 31 used to set the offset voltage for the analog monitor 1 (mo1) output. 32 used to set the offset voltage for the analog monitor 2 (mo2) output. 999 to 999
5 - 26 5. parameters (2) set content the servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (mo1) and the torque to analog monitor 2 (mo2). the setting can be changed as listed below by changing the parameter no.17 value. refer to app. 2 for the measurement point. setting output item description setting output item description 0 servo motor speed 8[v] max. speed 0 max. speed 8[v] ccw direction cw direction 6 droop pulses (note 1) ( 10v/128pulse) 10[v] 0 128[pulse] 10[v] ccw direction cw direction 128[pulse] 1 torque (note 2) 8[v] max. torque 0 max. torque 8[v] drivin g in cw direction driving in ccw direction 7 droop pulses (note 1) ( 10v/2048pulse) 10[v] 0 2048[pulse] 10[v] ccw direction cw direction 2048[pulse] 2 servo motor speed 8[v] max. speed 0 max. speed ccw direction cw direction 8 droop pulses (note 1) ( 10v/8192pulse) 10[v] 0 8192[pulse] 10[v] ccw direction cw direction 8192[pulse] 3 torque (note 2) 8[v] max. torque 0 max. torque driving in cw direction driving in ccw direction 9 droop pulses (note 1) ( 10v/32768pulse) 10[v] 0 32768[pulse] 10[v] ccw direction cw direction 32768[pulse] 4 current command 8[v] max. command current 0 max. command current 8[v] ccw direction cw direction a droop pulses (note 1) ( 10v/131072pulse) 10[v] 0 131072[pulse] 10[v] ccw direction cw direction 131072[pulse] 5 command pulse frequency 10[v] 500kpps 0 500kpps 10[v] ccw direction cw direction b bus voltage 8[v] 0 400[v]
5 - 27 5. parameters note 1. encoder pulse unit. 2. 8v is outputted at the maximum torque. however, when parameter no.28 76 are set to limit torque, 8v is outputted at the torque highly limited. (3) analog monitor block diagram pwm m current control speed control current command position control droop pulse differ- ential command pulse frequency bus voltage speed command command pulse current feedback position feedback servo motor speed current encoder servo moto r encoder torque
5 - 28 5. parameters 5.2.3 using forward/reverse rotation stroke end to change the stopping pattern the stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is made valid. a slow stop can be made by changing the parameter no.22 value. parameter no.22 setting stopping method 0 (initial value) sudden stop position control mode internal speed control mode : motor stops with droop pulses cleared. : motor stops at deceleration time constant of zero. 1 slow stop position control mode internal speed control mode : the motor is decelerated to a stop in accordance with the parameter no.7 value. : the motor is decelerated to a stop in accordance with the parameter no.12 value. 5.2.4 alarm history clear the servo amplifier stores one current alarm and five past alarms from when its power is switched on first. to control alarms which will occur during operation, clear the alarm history using parameter no.16 before starting operation. clearing the alarm history automatically returns to " 0 ". after setting, this parameter is made valid by switch power from off to on. alarm history clear 0: invalid (not cleared) 1: valid (cleared) parameter no.16
5 - 29 5. parameters 5.2.5 position smoothing by setting the position command acceleration/deceleration time constant (parameter no.7), you can run the servo motor smoothly in response to a sudden position command. the following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration/deceleration time constant. choose the primary 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 tim e t (3t) t (3t) 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)
5 - 30 5. parameters memo
6 - 1 6. display and operation 6. display and operation 6.1 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 before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. press the "mode" "up" or "down" button once to move to the next screen. to refer to or set the expansion parameters, make them valid with parameter no.19 (parameter write disable). cumulative feedback pulses [pulse] servo motor speed [r/min] droop pulses [pulse] cumulative command pulses [pulse] command pulse frequency [kpps] regenerative load ratio [%] effective load ratio [%] peak load ratio [%] within one-revolution position low [pulse] load inertia moment ratio [multiplier ( 1)] sequence external i/o signal display output (do) signal forced output test operation mode jog feed test 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 no.48 parameter no.49 (note) mode button down up status display diagnosis basic parameters expansion parameters 1 alarm expansion parameters 2 parameter no.50 parameter no.51 parameter no.83 parameter no.84 instantaneous torque [%] within one-revolution position, high [100 pulses] bus voltage [v] test operation mode machine analyzer operation motor series id motor type id encoder id note. the initial status display at power-on depends on the control mode. position control mode: cumulative feedback pulses(c), internal speed control mode: servo motor speed(r) also, parameter no.18 can be used to change the initial indication of the status display at power-on.
6 - 2 6. display and operation 6.2 status display the servo status during operation is shown on the 5-digit, 7-segment led display. press the "up" or "down" button to change display data as desired. when the required data is selected, the corresponding symbol appears. press the "set" button to display its data. at only power-on, however, data appears after the symbol of the 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 " ". load inertia moment 15.5 times 11252pulse multi-revolution counter 12566pulse lit negative value is indicated by the lit decimal points in the upper four digits.
6 - 3 6. display and operation 6.2.2 status display list the following table lists the servo statuses that may be shown. name symbol unit description display range cumulative feedback pulses c pulse feedback pulses from the servo motor encoder are counted and displayed. the value in excess of 99999 is counted, bus 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. reverse rotation is indicated by the lit decimal points in the upper four digits. 99999 to 99999 servo motor speed r r/min the servo motor speed is displayed. the value rounded off is displayed in 0.1r/min. 5400 to 5400 droop pulses e pulse the number of droop pulses in the deviation counter is displayed. when the servo motor is rotating in the reverse direction, the decimal points in the upper four digits are lit. since the servo amplifier display is five digits, it shows the lower five digits of the actual value. the number of pulses displayed is not yet multiplied by the electronic gear. 99999 to 99999 cumulative command pulses p pulse the position command input pulses are counted and displayed. as the value displayed is not yet multiplied by the electronic gear (cmx/cdv), it may not 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 frequency n kpps the frequency of the position command input pulses is displayed. the value displayed is not multiplied by the electronic gear (cmx/cdv). 800 to 800 regenerative load 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 15 seconds is displayed relative to the rated torque of 100 . 0 to 300 peak load ratio b the maximum torque generated during acceleration/deceleration, etc. the highest value in the past 15 seconds is displayed relative to the rated torque of 100 . 0 to 400 instantaneous torque t torque that occurred instantaneously is displayed. the value of the torque that occurred is displayed in real time relative to the rate torque of 100 . 0 to 400 within one-revolution position low cy1 pulse position within one revolution is displayed in encoder pulses. the value returns to "0" when it exceeds the maximum number of pulses. the value is incremented in the ccw direction of rotation. 0 to 99999
6 - 4 6. display and operation name symbol unit description display range within one-revolution position high cy2 100 pulse the within one-revolution position is displayed in 100 pulse increments of the encoder. the value returns to 0 when it exceeds the maximum number of pulses. the value is incremented in the ccw direction of rotation. 0 to 1310 load inertia moment ratio dc multiplier ( 1) the estimated ratio of the 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 with the control mode as follows. control mode status display at power-on position cumulative feedback pulses position/ internal speed cumulative feedback pulses/servo motor speed internal speed servo motor speed
6 - 5 6. display and operation 6.3 diagnostic mode name display description not ready. indicates that the servo amplifier is being initialized or an alarm has occurred. sequence ready. indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. external i/o signal display refer to section 6.6. indicates the on-off states of the external i/o signals. the upper segments correspond to the input signals and the lower segments to the output signals. lit: on extinguished: off the i/o signals can be changed using parameters no.43 to 49. output (do) signal forced output the digital output signal can be forc ed on/o ff. for more information, refer to section 6.7. jog feed jog operation can be performed when there is no command from the external command device. for details, refer to section 6.8.2. positioning operation the mr configurator (servo configuration software) is required for positioning operation. this operation cannot be performed from the operation section of the servo amplifier. positioning operation can be performed once when there is no command from the external command device. motor-less operation without connection of the servo motor, the servo amplifier provides output signals and displays the status as if the servo motor is running actually in response to the external input signal. for details, refer to section 6.8.4. test operation mode machine analyzer operation merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured. the mr configurator (servo configuration software) is required for machine analyzer operation. software version low indicates the version of the software. software version high indicates the system number of the software. manufacturer setting screen screen for manufacturer setting. when this screen is being displayed, do not press any other buttons than "up" and "down" button. motor series id press the "set" button to show the motor series id of the servo motor currently connected. motor type id press the "set" button to show the motor type id of the servo motor currently connected. encoder id press the "set" button to show the encoder id of the servo motor currently connected.
6 - 6 6. display and operation 6.4 alarm mode the current alarm, past alarm history and parameter error are displayed. the lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. display examples are shown below. name display description indicates no occurrence of an alarm. current alarm indicates the occurrence of overvoltage (al.33). flickers at occurrence of the alarm. indicates that the last alarm is overload 1 (al.50). indicates that the second alarm in the past is overvoltage (al.33). indicates that the third alarm in the past is undervoltage (al.10). indicates that the fourth alarm in the past is overspeed (al.31). indicates that there is no fifth alarm in the past. alarm history indicates that there 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 area. at this time, the decimal point in the fourth digit remains flickering. (3) for any alarm, remove its cause and clear it in any of the following methods (for clearable alarms, refer to section 10.2.1). (a) switch power off, then on. (b) press the "set" button on the current alarm screen. (c) turn on the reset (res). (4) use parameter no.16 to clear the alarm history. (5) pressing "set" button on the alarm history display screen for 2s or longer shows the following detailed information display screen. note that this is provided for maintenance by the manufacturer. (6) press the "up" or "down" button to display the next alarm in the history.
6 - 7 6. display and operation 6.5 parameter mode the parameters whose abbreviations are marked* are made valid by changing the setting and then switching power off once and switching it on again. refer to section 5.1.2. (1) operation example the following example shows the operation procedure performed after power-on to change the control mode (parameter no.0) to the internal speed control mode. using the "mode" button, show the basic 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 set value, then switch power off once and switch it on again to make the new value valid. (2) expansion parameters to use the expansion parameters, change the setting of parameter no.19 (parameter write disable). refer to section 5.1.1.
6 - 8 6. display and operation 6.6 external i/o signal display the on/off states of the digital i/o signals connected to the servo amplifier can be confirmed. (1) operation call the display screen shown after power-on. using the "mode" button, show the diagnostic screen. press up once. external i/o signal display screen (2) display definition cn1 6 cn1 7 cn1 21 cn1 5 cn1 9 cn1 3 cn1 4 cn1 12 cn1 11 cn1 10 lit: on extinguished: off input signals 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 p s related parameter no. 3 i res st1 43 to 47 4 i son son 43 to 47 5 i cr st2 43 to 47 6 i lsp lsp 43 to 48 7 i lsn lsn 43 to 48 8 i emg emg 9 o alm alm 49 10 o inp sa 49 11 o rd rd 49 12 o zsp zsp 49 21 o op op note 1. i: input signal, o: output signal 2. p: position control mode, s: internal speed control mode 3. cn1b-4 and cn1a-18 output signals are the same.
6 - 9 6. display and operation (3) default signal indications (a) position control mode lit: on extinguished: off input signals output signals cr (cn 1-5) clear res (cn 1-3) reset 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 inp (cn 1-10) in position 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) emergency stop sa (cn 1-10) limiting speed st1 (cn 1-3) forward rotation start st2 (cn 1-5) reverse rotation start
6 - 10 6. display and operation 6.7 output signal (do) forced output point when the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (mbr) after assigning it to pin cn1-12 will release the electromagnetic brake, causing a drop. take drop preventive measures on the machine side. the output signal can be forced on/off independently of the servo status. this function is used for output signal wiring check, etc. this operation 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 display. (lit: on, extinguished: off) press mode once. the segment above cn1-pin 10 is lit. press up once. cn1-pin 10 is switched on. (cn1-pin 10-vin conduct.) press down once. cn1-pin 10 is switched off. press set for more than seconds. cn1 12 cn1 9 cn1 12 cn1 10 cn1 11 always lit
6 - 11 6. display and operation 6.8 test operation mode caution the test operation mode is designed to confirm servo operation and not to confirm machine operation. in this mode, do not use the servo motor with the machine. always use the servo motor alone. if any operational fault has occurred, stop operation using the emergency stop (emg) signal. point the mr configurator (servo configuration 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 more than 2s. flickers in the test operation mode. press up five times. press set for more than 2s. when this screen is displayed, motor-less operation can be performed.
6 - 12 6. display and operation 6.8.2 jog operation jog operation can be performed when there is no command from the external command device. (1) operation connect emg-vin to start jog operation to use the internal power supply. hold down the "up" or "down" button to run the servo motor. release it to stop. when using the mr configurator (servo configuration software), you can change the operation conditions. the initial conditions and setting ranges for operation are listed below. item initial setting setting range 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 "up" press to start ccw rotation. release to stop. "down" press to start cw rotation. release to stop. if the communication cable is disconnected during jog operation performed by using the mr configurator (servo configuration software), the servo motor will be decelerated to a stop. (2) status display you can confirm the servo status during jog operation. pressing the "mode" button in the jog operation-ready status calls the status display screen. with this screen being shown, perform jog operation with the "up" or "down" button. 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 jog operation-ready status screen. for full information of the status display, refer to section 6.2. in the test operation mode, you cannot use the "up" and "down" buttons to change the status display screen from one to another. (3) termination of jog operation to end the jog operation, switch power off once or press the "mode" button to switch to the next screen and then hold down the "set" button for 2 or more seconds.
6 - 13 6. display and operation 6.8.3 positioning operation point the mr configurator (servo configuration software) is required to perform positioning operation. positioning operation can be performed once when there is no command from the external command device. (1) operation connect emg-vin to start positioning operation to use the internal power supply. click the "forward" or "reverse" button on the mr configurator (servo configuration software) starts the servo motor, which will then stop after moving the preset travel distance. you can change the operation conditions on the mr configurator (servo configuration software). the initial conditions and setting ranges for operation are listed below. item initial setting setting range travel distance [pulse] 10000 0 to 9999999 speed [r/min] 200 0 to instantaneous permissible speed acceleration/deceleration time constant [ms] 1000 0 to 50000 how to use the buttons is explained below. button description "forward" click to start positioning operation ccw. "reverse" click to start positioning operation cw. "pause" click during operation to make a temporary stop. pressing the "pause" button again erases the remaining distance. to resume operation, click the button that was clicked to start the operation. if the communication cable is disconnected during positioning operation, the servo motor will come to a sudden stop. (2) status display you can monitor the status display even during positioning operation.
6 - 14 6. display and operation 6.8.4 motor-less operation without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. this operation can be used to check the sequence of a host programmable controller or the like. (1) operation after turning off the signal across son-vin, choose motor-less operation. after that, perform external operation as in ordinary operation. (2) status display you 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 screen. for full information of the status display, refer to section 6.2. in the test operation mode, you cannot use the "up" and "down" buttons to change the status display screen from one to another. (3) termination of motor-less operation to terminate the motor-less operation, switch power off.
7 - 1 7. general gain adjustment 7. general gain adjustment 7.1 different adjustment methods 7.1.1 adjustment on a single servo amplifier the gain adjustment in this section can be made on a single servo amplifier. for gain adjustment, first execute auto tuning mode 1. if you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order. (1) gain adjustment mode explanation gain adjustment mode parameter no.2 setting estimation of load inertia moment ratio automatically set parameters manually set parameters auto tuning mode 1 (initial value) 010 always estimated 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) pg1 (parameter no.6) gd2 (parameter no.34) vg2 (parameter no.37) vic (parameter no.38) manual mode 2 040 fixed to parameter no.34 value pg1 (parameter no.6) gd2 (parameter no.34) pg2 (parameter no.35) vg1 (parameter no.36) vg2 (parameter no.37) vic (parameter no.38) interpolation mode 000 always estimated gd2 (parameter no.34) pg2 (parameter no.35) vg2 (parameter no.37) vic (parameter no.38) pg1 (parameter no.6) vg1 (parameter no.36)
7 - 2 7. general gain adjustment (2) adjustment sequence and mode usage usage used when you want to match the position gain (pg1) between 2 or more axes. normally not used for other purposes. allows adjustment by merely changing the response level setting. first use this mode to make adjustment. used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly, for example. this mode permits adjustment easily with three gains if you were not satisfied with auto tuning results. end interpolation made for 2 or more axes? start operation auto tuning mode 2 ok? manual mode 1 ok? manual mode 2 ok? ok? no no yes no yes no yes no yes auto tuning mode 1 operation interpolation mode operation operation yes you can adjust all gains manually when you want to do fast settling or the like. 7.1.2 adjustment using mr configurator (servo configuration software) this section gives the functions and adjustment that may be performed by using the servo amplifier with the mr configurator (servo configuration software) which operates on a personal computer. function description adjustment machine analyzer with the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response. you can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter. you can automatically set the optimum gains in response to the machine characteristic. this simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time. gain search executing gain search under to-and-fro positioning command measures settling characteristic while simultaneously changing gains, and automatically searches for gains which make settling time shortest. you can automatically set gains which make positioning settling time shortest. machine simulation response at positioning settling of a machine can be simulated from machine analyzer results on personal computer. you can optimize gain adjustment and command pattern on personal computer.
7 - 3 7. general gain adjustment 7.2 auto tuning 7.2.1 auto tuning mode the servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. this function permits ease of gain adjustment of the servo amplifier. (1) auto tuning mode 1 the servo amplifier is factory-set to the auto tuning mode 1. in this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically. the following parameters are automatically adjusted in the auto tuning mode 1. parameter no. abbreviation name 6 pg1 position control gain 1 34 gd2 ratio of load inertia moment to servo motor inertia moment 35 pg2 position control gain 2 36 vg1 speed control gain 1 37 vg2 speed control gain 2 38 vic speed integral compensation point the auto tuning mode 1 may not be performed 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 torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. in such cases, use the auto tuning mode 2 or manual mode 1,2 to make gain adjustment. (2) auto tuning mode 2 use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. since the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment ratio (parameter no.34). the following parameters are automatically adjusted in the auto tuning mode 2. parameter no. abbreviation name 6 pg1 position control gain 1 35 pg2 position control gain 2 36 vg1 speed control gain 1 37 vg2 speed control gain 2 38 vic speed integral compensation
7 - 4 7. general gain adjustment 7.2.2 auto tuning mode operation the block diagram of real-time auto tuning is shown below. servo motor command automatic setting control gains pg1,vg1 pg2,vg2,vic current control current feedback load inertia moment encoder position/speed feedback real-time auto tuning section speed feedback load inertia moment ratio estimation section gain table parameter no. 2 gain adjustment mode selection first digit response level setting parameter no. 34 load inertia moment ratio estimation value set 0 or 1 to turn on. switch when a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor. the results of estimation are written to parameter no.34 (the ratio of load inertia moment to servo motor). these results can be confirmed on the status display screen of the mr configurator (servo configuration software) section. if the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose the "auto tuning mode 2" (parameter no.2: 2 ) to stop the estimation of the load inertia moment ratio (switch in above diagram turned off), and set the load inertia moment ratio (parameter no.34) manually. from the preset load inertia moment ratio (parameter no.34) value and response level (the first digit of parameter no.2), the optimum control gains are automatically set on the basis of the internal gain tale. the auto tuning results are saved in the eep-rom of the servo amplifier every 60 minutes since power-on. at power-on, auto tuning is performed with the value of each control gain saved in the eep-rom being used as an initial value. point if sudden disturbance torque is imposed during operation, the estimation of the inertia moment ratio may malfunction temporarily. in such a case, choose the "auto tuning mode 2" (parameter no.2: 2 ) and set the correct load inertia moment ratio in parameter no.34. when any of the auto tuning mode 1, auto tuning mode 2 and manual mode 1 settings is changed to the manual mode 2 setting, the current control gains and load inertia moment ratio estimation value are saved in the eep-rom.
7 - 5 7. general gain adjustment 7.2.3 adjustment procedure by auto tuning since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. merely changing the response level setting value as required completes the adjustment. the adjustment procedure is as follows. end yes no yes no no yes auto tuning adjustment acceleration/deceleration repeated load inertia moment ratio estimation value stable? auto tuning conditions not satisfied. (estimation of load inertia moment ratio is difficult) adjust response level setting so that desired response is achieved on vibration-free level. acceleration/deceleration repeated requested performance satisfied? to manual mode choose the auto tuning mode 2 (parameter no.2: 020 ) and set the load inertia moment ratio (parameter no.34) manually.
7 - 6 7. general gain adjustment 7.2.4 response level setting in auto tuning mode set the response (the first digit of parameter no.2) of the whole servo system. as the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration. hence, make setting until desired response is obtained within the vibration-free range. if the response level setting cannot be increased up to the desired response because of machine resonance beyond 100hz, adaptive vibration suppression 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 characteristic response level setting machine rigidity machine resonance frequency guideline guideline of corresponding machine 1 low 15hz 2 20hz 3 25hz 4 30hz 5 35hz 6 45hz 7 55hz 8 middle 70hz 9 85hz a 105hz b 130hz c 160hz d 200hz e 240hz f high 300hz large conveyor arm robot general machine tool conveyor precision working machine inserter mounter bonder
7 - 7 7. general gain adjustment 7.3 manual mode 1 (simple manual adjustment) if you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 7.3.1 operation of manual mode 1 in this mode, setting the three gains of position control gain 1 (pg1), speed control gain 2 (vg2) and speed integral compensation (vic) automatically sets the other gains to the optimum values according to these gains. pg1 vg2 vic pg2 vg1 gd2 automatic setting user setting therefore, you can adjust the model adaptive control system in the same image as the general pi control system (position gain, speed gain, speed integral time constant). here, the position gain corresponds to pg1, the speed gain to vg2 and the speed integral time constant to vic. when making gain adjustment in this mode, set the load inertia moment ratio (parameter no.34) correctly. 7.3.2 adjustment by manual mode 1 point if machine resonance occurs, adaptive vibration suppression control (parameter no.60) or machine resonance suppression filter (parameter no.58 59) may be used to suppress machine 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 servo motor inertia moment (parameter no.34). 2 increase the speed control gain 2 (parameter no.37) within the vibration- and unusual noise-free range, and return slightly if vibration takes place. increase the speed control gain. 3 decrease the speed integral compensation (parameter no.38) within the vibration-free range, and return slightly if vibration takes place. decrease the time constant of the speed integral compensation. 4 if the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 2 and 3. suppression of machine resonance. refer to section 8.2, 8.3. 5 while checking the settling characteristic and rotational status, fine-adjust each gain. fine adjustment
7 - 8 7. general gain adjustment (c)adjustment description 1) speed control gain 2 (parameter no.37) this parameter determines the response level of the speed control loop. increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. the actual response frequency of the speed loop is as indicated in the following expression. speed control gain 2 setting (1 ratio of load inertia moment to servo motor inertia moment) 2 speed loop response frequency(hz) 2) speed integral compensation (vic: parameter no.38) to eliminate stationary deviation against a command, the speed control loop is under proportional integral control. for the speed integral compensation, set the time constant of this integral control. increasing the setting lowers the response level. however, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. the guideline is as indicated in the following expression. speed control gain 2 setting/(1 ratio of load inertia moment to servo motor inertia moment setting 0.1) 2000 to 3000 speed integral compensation setting(ms) (2) for position control (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 (parameter no.34). 2 set a slightly smaller value to the position control gain 1 (parameter no.6). 3 increase the speed control gain 2 (parameter no.37) within the vibration- and unusual noise-free range, and return slightly if vibration takes place. increase the speed control gain. 4 decrease the speed integral compensation (parameter no.38) within the vibration-free range, and return slightly if vibration takes place. decrease the time constant of the speed integral compensation. 5 increase the position control gain 1 (parameter no.6). increase the position control gain. 6 if the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 3 to 5. suppression of machine resonance. refer to section 8.2, 8.3. 7 while checking the settling characteristic and rotational status, fine-adjust each gain. fine adjustment
7 - 9 7. general gain adjustment (c) adjustment description 1) position control gain 1 (parameter no.6) this parameter determines the response level of the position control loop. increasing position control gain 1 improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling. (1 ratio of load inertia moment to servo motor inertia moment) 1 3 1 5 to speed control gain 2 setting position control gain 1 guideline 2) speed control gain 2 (vg2: parameter no.37) this parameter determines the response level of the speed control loop. increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. the actual response frequency of the speed loop is as indicated in the following expression. speed control gain 2 setting (1 ratio of load inertia moment to servo motor inertia moment) 2 speed loop response frequency(hz) 3) speed integral compensation (parameter no.38) to eliminate stationary deviation against a command, the speed control loop is under proportional integral control. for the speed integral compensation, set the time constant of this integral control. increasing the setting lowers the response level. however, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. the guideline is as indicated in the following expression. speed control gain 2 setting/(1 ratio of load inertia moment to servo motor inertia moment 2 setting 0.1) 2000 to 3000 speed integral compensation setting(ms)
7 - 10 7. general gain adjustment 7.4 interpolation mode the interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an x-y table or the like. in this mode, the position control gain 2 and speed control gain 2 which determine command track ability are set manually and the other parameter for gain adjustment are set automatically. (1) parameter (a) automatically adjusted parameters the following parameters are automatically adjusted by auto tuning. parameter no. abbreviation name 34 gd2 ratio of load inertia moment to servo motor inertia moment 35 pg2 position control gain 2 37 vg2 speed control gain 2 38 vic speed integral compensation (b) manually adjusted parameters the following parameters are adjustable manually. parameter no. abbreviation name 6 pg1 position control gain 1 36 vg1 speed control gain 1 (2) adjustment procedure step operation description 1 set 15hz (parameter no.2: 010 ) as the machine resonance frequency of response in the auto tuning mode 1. select the auto tuning mode 1. 2 during operation, increase the response level setting (parameter no.2), and return the setting if vibration occurs. adjustment in auto tuning mode 1. 3 check the values of position 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 using the speed control gain 1 value checked in step 3 as the guideline of the upper limit, look at the rotation status and set in speed control gain 1 the value three or more times greater than the position control gain 1 setting. set speed control gain 1. 7 looking at the interpolation characteristic and rotation status, fine-adjust the gains and response level setting. fine adjustment. (3) adjustment description (a) position control gain 1 (parameter no.6) this parameter determines the response level of the position control loop. increasing position control gain 1 improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling. the droop pulse value is determined by the following expression. position control gain 1 setting 60 131,072(pulse) droop pulse value (pulse) rotation speed (r/min) (b) speed control gain 1 (parameter no.36) set the response level of the speed loop of the model. make setting using the following expression as a guideline. speed control gain 1 setting position control gain 1 setting 3
8 - 1 8. special adjustment functions 8. special adjustment functions point the functions given in this chapter need not be used generally. use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 7. if a mechanical system has a natural resonance level point, increasing the servo system response may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency. using the machine resonance suppression filter and adaptive vibration suppression control functions can suppress the 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 the machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. you can set the gain decreasing frequency (notch frequency) and gain decreasing depth. mechanical system response level machine resonance point frequency notch depth notch frequency frequency
8 - 2 8. special adjustment functions you can use the machine resonance suppression filter 1 (parameter no.58) and machine resonance suppression filter 2 (parameter no.59) to suppress the vibration of two resonance frequencies. note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (parameter no.58) is made invalid. mechanical system response level machine resonance point frequency notch depth parameter no. 58 parameter no. 59 frequency point the machine resonance suppression filter is a delay factor for the servo system. hence, vibration may increase if you set a wrong resonance frequency 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). depth (gain) setting value frequency setting value frequency setting value setting value parameter no.58 notch frequency frequency frequency 08 09 0a 0b 0c 0d 0e 0f 10 11 12 13 14 15 16 17 18 19 1a 1b 1c 1d 1e 1f 00 01 02 03 04 05 06 07 invalid 4500 2250 1500 1125 900 750 642.9 500 450 409.1 300 321.4 346.2 375 562.5 281.3 264.7 250 236.8 225 214.3 204.5 195.7 187.5 180 173.1 166.7 160.1 155.2 145.2 150 notch depth setting value 00 00 00 00 deep ( 40db) ( 14db) ( 8db) shallow( 4db)
8 - 3 8. special adjustment functions point if the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. the optimum notch frequency is set at the point where vibration is minimal. a deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration. the machine characteristic can be grasped beforehand by the machine analyzer on the mr configurator (servo configuration software). this allows the required notch frequency and depth to be determined. resonance may occur if parameter no.58 59 is used to select a close notch frequency and set a deep notch. (b) machine resonance suppression filter 2 (parameter no.59) the setting method of machine resonance suppression filter 2 (parameter no.59) is the same as that of machine resonance suppression filter 1 (parameter no.58). however, the machine resonance suppression filter 2 can be set independently of whether adaptive vibration suppression control is valid or invalid. 8.3 adaptive vibration suppression control (1) function adaptive vibration suppression control is a function in which the servo amplifier detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration. since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system. 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 level machine resonance point machine resonance point frequency frequenc y notch depth notch depth notch frequency notch frequency frequency frequenc y when machine resonance is large and frequency is low when machine resonance is small and frequency is high point the machine resonance frequency which adaptive vibration suppression control can respond to is about 150 to 500hz. adaptive vibration suppression control has no effect on the resonance frequency outside this range. use the machine resonance suppression filter for the machine resonance of such frequency. adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics or which has too large resonance. under operating conditions in which sudden disturbance torque is imposed during operation, the detection of the resonance frequency may malfunction temporarily, causing machine vibration. in such a case, set adaptive vibration suppression control to be "held" (parameter no.60: 2 ) to fix the characteristics of the adaptive vibration suppression control filter.
8 - 4 8. special adjustment functions (2) parameters the operation of adaptive vibration suppression control selection (parameter no.60). parameter no.60 adaptive vibration suppression control selection choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter no.58) invalid. 0: invalid 1: valid machine resonance frequency is always detected to generate the filter in response to resonance, suppressing machine vibration. 2: held adaptive vibration suppression control sensitivity selection set the sensitivity of detecting machine resonance. 0: normal 1: lar g e sensitivit y filter characteristics generated so far is held, and detection of machine resonance is stopped. point adaptive vibration suppression control is factory-set to be invalid (parameter no.60: 0000). setting the adaptive vibration suppression control sensitivity can change the sensitivity 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 ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. to prevent this, the low-pass filter is factory-set to be valid for a torque command. the filter frequency of this low-pass filter is automatically adjusted to the value in the following expression. filter frequency(hz) (1 ratio of load inertia moment to servo motor inertia moment setting 0.1) 2 speed control gain 2 setting 10 (2) parameter set the operation of the low-pass filter (parameter no.60.) parameter no.60 low-pass filter selection 0: valid (automatic adjustment) initial value 1: invalid point in a mechanical system where rigidity is extremely high and resonance level is difficult to occur, setting the low-pass filter to be "invalid" may increase the servo system response level to shorten the settling time.
8 - 5 8. special adjustment functions 8.5 gain changing function this function can change the gains. you can change between gains during rotation and gains during stop or can use an external input signal to change gains during operation. 8.5.1 applications this function is used when. (1) you want to increase the gains during servo lock but decrease the gains to reduce noise during rotation. (2) you want to increase the gains during settling to shorten the stop settling time. (3) you want to change the gains using an external input signal 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 value command pulse frequency droop pulses model speed external input signal cdp comparator valid pg2 value valid vg2 value valid vic value changing pg2 pg2b 100 vic vicb 100 vg2 vg2b 100 gd2b parameter no.61 gd2 parameter no.34 pg2 parameter no.35 vg2 parameter no.37 vic parameter no.38 cdp parameter no.65 cds parameter no.66
8 - 6 8. special adjustment functions 8.5.3 parameters when using the gain changing function, always set " 4 " in parameter no.2 (auto tuning) to choose the manual mode of the gain adjustment modes. the gain changing function cannot be used in the auto tuning mode. parameter no. abbrevi ation name unit description 6 pg1 position control gain 1 rad/s 36 vg1 speed control gain 1 rad/s position and speed gains of a model used to set the response level to a command. always valid. 34 gd2 ratio of load inertia moment to servo motor inertia moment multiplier ( 10 1 ) 35 pg2 position control gain 2 rad/s 37 vg2 speed control gain 2 rad/s 38 vic speed integral compensation ms control parameters before changing. 61 gd2b ratio of load inertia moment to servo motor inertia moment 2 multiplier ( 10 1 ) used to set the ratio of load inertia moment to servo motor inertia moment after changing. 62 pg2b position control gain 2 changing ratio used to set the ratio ( ) of the after-changing position control gain 2 to position control gain 2. 63 vg2b speed control gain 2 changing ratio used to set the ratio ( ) of the after-changing speed control gain 2 to speed control gain 2. 64 vicb speed integral compensation changing ratio used to set the ratio ( ) of the after-changing speed integral compensation to speed integral compensation. 65 cdp gain changing selection used to select the changing condition. 66 cds gain changing condition kpps pulse r/min used to set the changing condition values. 67 cdt gain changing time constant ms you can set the filter time constant for a gain change at changing.
8 - 7 8. special adjustment functions (1) parameters no.6, 34 to 38 these parameters are the same as in ordinary manual adjustment. gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed. (2) ratio of load inertia moment to servo motor inertia moment 2 (gd2b: parameter no.61) set the ratio of load inertia moment to servo motor inertia moment after changing. if the load inertia moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor inertia moment (parameter no.34). (3) position control gain 2 changing ratio (parameter no.62), speed control gain 2 changing ratio (parameter no.63), speed integral compensation changing ratio (parameter no.64) set the values of after-changing position control gain 2, speed control gain 2 and speed integral compensation in ratio ( ). 100 setting means no gain change. for example, at the setting of position control gain 2 100, speed control gain 2 2000, speed integral compensation 20 and position control gain 2 changing ratio 180 , speed control gain 2 changing ratio 150 and speed integral compensation changing ratio 80 , the after-changing values are as follows. position control gain 2 position control gain 2 position 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 can use the gain changing (cdp) external input signal for gain changing. the gain changing (cdp) can be assigned to the pins using parameters no.43 to 48. parameter no.65 gain changing selection gains are changed in accordance with the settings of parameters no.61 to 64 under any of the following conditions: 0: invalid 1: gain changing (cdp) input is on 2: command frequency is equal to higher than parameter no.66 setting 3: droop pulse value is equal to higher than parameter no.66 setting 4: servo motor speed is equal to hi g her than parameter no.66 settin g (5) gain changing condition (parameter no.66) when you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing selection (parameter no.65), set the gain changing level. the setting unit is as follows. gain changing condition unit command frequency kpps droop pulses pulse servo motor speed r/min (6) gain changing time constant (parameter no.67) you can set the primary delay filter to each gain at gain changing. this parameter is used to suppress shock given to the machine if the gain difference is large at gain changing, for example.
8 - 8 8. special adjustment functions 8.5.4 gain changing operation this operation will be described by way of setting examples. (1) when you choose ch anging by external input (a) setting parameter no. abbreviation name setting unit 6 pg1 position control gain 1 100 rad/s 36 vg1 speed control gain 1 1000 rad/s 34 gd2 ratio of load inertia moment to servo motor inertia moment 4 multiplier ( 10 1 ) 35 pg2 position control gain 2 120 rad/s 37 vg2 speed control gain 2 3000 rad/s 38 vic speed integral compensation 20 ms 61 gd2b ratio of load inertia moment to servo motor inertia moment 2 100 multiplier ( 10 1 ) 62 pg2b position control gain 2 changing ratio 70 63 vg2b speed control gain 2 changing ratio 133 64 vicb speed integral compensation changing ratio 250 65 cdp gain changing selection 0001 (changed by on/off of pin cn1-10) 67 cdt gain changing time constant 100 ms (b) changing operation off on off gain changing (cdp) change of each gain before-changing gain after-changing gain cdt 100ms position control gain 1 100 speed control gain 1 1000 ratio of load inertia moment to servo motor inertia moment 4.0 10.0 4.0 position control gain 2 120 84 120 speed control gain 2 3000 4000 3000 speed integral compensation 20 50 20
8 - 9 8. special adjustment functions (2) when you choose ch anging by droop pulses (a) setting parameter no. abbreviation name setting unit 6 pg1 position control gain 1 100 rad/s 36 vg1 speed control gain 1 1000 rad/s 34 gd2 ratio of load inertia moment to servo motor inertia moment 40 multiplier ( 10 1 ) 35 pg2 position control gain 2 120 rad/s 37 vg2 speed control gain 2 3000 rad/s 38 vic speed integral compensation 20 ms 61 gd2b ratio of load inertia moment to servo motor inertia moment 2 100 multiplier ( 10 1 ) 62 pg2b position control gain 2 changing ratio 70 63 vg2b speed control gain 2 changing ratio 133 64 vicb speed integral compensation changing ratio 250 65 cdp gain changing selection 0003 (changed by droop pulses) 66 cds gain changing condition 50 pulse 67 cdt gain changing time constant 100 ms (b) changing operation cdt 100ms 0 droop pulses [pulses] change of each gain cds cds before-changing gain after-changing gain command pulse droop pulses position control gain 1 100 speed control gain 1 1000 ratio of load inertia moment to servo motor inertia moment 4.0 10.0 4.0 10.0 position control gain 2 120 84 120 84 speed control gain 2 3000 4000 3000 4000 speed integral compensation 20 50 20 50
8 - 10 8. special adjustment functions memo
9 - 1 9. inspection 9. inspection warning before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. otherwise, an electric shock may occur. in addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. any person who is involved in inspection should be fully competent to do the work. otherwise, you may get an electric shock. for repair and parts replacement, contact your safes representative. point do not test the servo amplifier with a megger (measure insulation resistance), or it may become faulty. do not disassemble and/or repair the equipment on customer side. (1) inspection it is recommended to make the following checks periodically. (a) check for loose terminal block screws. retighten any loose screws. (b) check the cables and the like for scratches and cracks. perform periodic inspection according to operating conditions. (c) check the servo motor bearings, brake section, etc. for unusual noise. (d) check the cables and the like for scratches and cracks. perform periodic inspection according to operating conditions. (e) check the servo motor shaft and coupling for misalignment. (2) life the following parts must be changed periodically as listed below. if any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. for parts replacement, please contact your sales representative. part name life guideline smoothing capacitor 10 years relay number of power-on and number of emergency stop times: 100,000 times bearings 20,000 to 30,000 hours encoder 20,000 to 30,000 hours oil seal 5,000 hours (a) smoothing capacitor affected by ripple currents, etc. and deteriorates in characteristic. the life of the capacitor greatly depends on ambient temperature and operating conditions. the capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment. (b) relays their contacts will wear due to switching currents and contact faults occur. relays reach the end of their life when the cumulative number of power-on and emergency stop times is 100,000, which depends on the power supply capacity.
9 - 2 9. inspection (c) servo amplifier cooling fan the cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. normally, therefore, the cooling fan must be changed in a few years of continuous operation as a guideline. it must also be changed if unusual noise or vibration is found during 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 conditions. these parts must also be changed if oil leakage, etc. is found during inspection.
10 - 1 10. troubleshooting 10. troubleshooting 10.1 trouble at start-up caution excessive adjustment or change of parameter setting must not be made as it will make operation instable. point using the optional mr configurator (servo configuration software), you can refer to unrotated servo motor reasons, etc. the following faults may occur at start-up. if any of such faults occurs, take the corresponding action. 10.1.1 position control mode (1) troubleshooting no. start-up sequence fault investigation possible cause reference not improved if connectors cn1, cn2 and cn3 are disconnected. 1. power supply voltage fault 2. servo amplifier is faulty. improved when connectors cn1 is disconnected. power supply of cnp1 cabling is shorted. improved when connector cn2 is disconnected. 1. power supply of encoder cabling is 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 amplifier is ready to operate. 2. check the external i/o signal indication to see if the servo-on (son) signal is on. 1. servo-on signal is not input. (wiring mistake) 2. 24vdc power is not supplied to com. section 6.6 servo motor does not rotate. 1. wiring mistake (a) for open collector pulse train input, 24vdc power is not supplied to opc. (b) lsp/lsn-vin are not connected. 2. no pulses is input. section 6.2 3 enter input command. (test operation) servo motor run in reverse direction. check cumulative command pulses. 1. mistake in wiring to controller. 2. mistake in setting of parameter no.54. chapter 5
10 - 2 10. troubleshooting no. start-up sequence fault investigation possible cause reference rotation ripples (speed fluctuations) are large at low speed. make gain adjustment in the following procedure. 1. increase the auto tuning response level. 2. repeat acceleration and deceleration several times to complete auto tuning. gain adjustment fault chapter 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 counting error, etc. due to noise. (2) of this section note. switch power on again after making sure that the charge lamp has turned off completely.
10 - 3 10. troubleshooting (2) how to find the cause of position shift positioning unit (a) output pulse counter q p cmx cdv (c) servo-on (son), forward rotation stroke end (lsp), reverse rotation stroke end (lsn) input (a) (b) cumulative command pulses electronic gear (parameters no.3, 4) c servo motor m encoder l machine (d) machine stop position m (b) (c) cumulative feedback pulses servo amplifier when a position shift occurs, check (a) output pulse counter, (b) cumulative command pulse display, (c) cumulative feedback pulse display, and (d) machine stop position in the above diagram. (a), (b) and (c) indicate position shift causes. for example, (a) indicates that noise entered the wiring between positioning unit and servo amplifier, causing pulses to be miss-counted. in a normal status without position shift, there are the following relationships. 1) q p (positioning unit's output counter servo 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-counted. (cause a) make the following check or take the following measures. check how the shielding is done. change the open collector system to the differential line driver system. run wiring away from the power circuit. install a data line filter. 2) cmx cdv p c when during operation, the servo-on signal (son) or forward rotation stroke end (lsp), reverse rotation stroke end (lsn) signal was switched off or the clear signal (cr) and the reset signal (res) switched on. (cause c) if a malfunction may occur due to much noise, increase the input filter setting (parameter no.1). 3) when c m mechanical slip occurred between the servo motor and machine. (cause b)
10 - 4 10. troubleshooting 10.1.2 internal speed control mode no. start-up sequence fault investigation possible cause reference not improved if connectors cn1, cn2 and cn3 are disconnected. 1. power supply voltage fault 2. servo amplifier is faulty. improved when connectors cn1 is disconnected. power supply of cn1 cabling is shorted. improved when connector cn2 is disconnected. 1. power supply of encoder cabling is 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 amplifier is ready to operate. 2. check the external i/o signal indication to see if the servo-on (son) signal is on. 1. servo-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. check the internal torque limit 1 (parameter no.28). torque limit level is too low as compared to the load torque. section 5.1.2 (1) rotation ripples (speed fluctuations) are large at low speed. make gain adjustment in the following procedure. 1. increase the auto tuning response level. 2. repeat acceleration and deceleration several times to complete auto tuning. gain adjustment fault chapter 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 note. switch power on again after making sure that the charge lamp has turned off completely.
10 - 5 10. troubleshooting 10.2 when alarm or warning has occurred point as soon as an alarm occurs, turn off servo-on (son) and power off the power supply. 10.2.1 alarms and warning list when a fault occurs during operation, the corresponding alarm or warning is displayed. if any alarm or warning has occurred, refer to section 10.2.2 or 10.2.3 and take the appropriate action. when an alarm occurs, the current circuit between alm and vin opens. set " 1" in parameter no.49 to output the alarm code in on/off status across the corresponding pin and vin. warnings (al.96 to al.e9) have no alarm codes. any alarm code is output at occurrence of the corresponding alarm. in the normal status, the signals available before alarm code setting (cn1-12: zsp, cn1- 11: rd, cn1-10: inp or sa) are output. after its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. (note 2) alarm code alarm deactivation display cn1-10 pin cn1-11 pin cn1-12 pin name power off on press "set" on current alarm screen. alarm reset (res) signal al.10 0 1 0 undervoltage al.12 0 0 0 memory error 1 al.13 0 0 0 clock error al.15 0 0 0 memory error 2 al.16 1 0 1 encoder error 1 al.17 0 0 0 board error al.19 0 0 0 memory error 3 al.1a 1 0 1 motor combination error al.20 1 1 0 encoder error 2 al.24 0 0 1 main circuit error al.30 0 1 0 regenerative error (note 1) (note 1) (note 1) al.31 0 1 1 overspeed al.32 0 0 1 overcurrent al.33 0 1 0 overvoltage al.35 0 1 1 command pulse frequency error al.37 0 0 0 parameter error al.45 1 1 0 main circuit device overheat (note 1) (note 1) (note 1) al.46 1 1 0 servo motor overheat (note 1) (note 1) (note 1) al.50 1 1 0 overload 1 (note 1) (note 1) (note 1) al.51 1 1 0 overload 2 (note 1) (note 1) (note 1) al.52 0 1 1 error excessive al.8a 0 0 0 serial communication time-out error al.8e 0 0 0 serial communication error alarms 88888 0 0 0 watchdog al.e0 excessive regenerative warning al.e1 overload warning al.e6 servo emergency stop warning warnings al.e9 undervoltage warning removing the cause of occurrence deactivates the alarm automatically. note 1. deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence. 2. 0: off 1: on
10 - 6 10. troubleshooting 10.2.2 remedies for alarms caution when any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. otherwise, injury may occur. as soon as an alarm occurs, turn off servo-on (son) and power off the power supply. point when any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation. if operation is resumed by switching power off, then on to reset the alarm, the servo amplifier and servo motor may become faulty. regenerative error (al.30) overload 1 (al.50) overload 2 (al.51) the alarm can be deactivated by switching power off, then on press the "set" button on the current alarm screen or by turning on the reset signal (res). for details, refer to section 10.2.1. when an alarm occurs, the trouble signal (alm) switches off and the dynamic brake is operated to stop the servo motor. at this time, the display indicates the alarm no. the servo motor comes to a stop. remove the cause of the alarm in accordance with this section. use the optional mr configurator (servo configuration software) to refer to the cause of the alarm. 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. the bus voltage dropped to 200vdc. check the power supply. al.10 undervoltage power supply voltage dropped to 160vac or less. 5. faulty parts in the servo amplifier change the servo amplifier. al.12 memory error 1 ram, memory fault al.13 clock error printed board fault faulty parts in the servo amplifier change the servo amplifier. 1. faulty parts in the servo amplifier al.15 memory error 2 eep-rom fault 2. the number of write times to eep- rom exceeded 100,000. change the servo amplifier. 1. encoder connector (cn2) disconnected. connect correctly. 2. encoder fault change the servo motor. al.16 encoder error 1 communication error occurred between encoder and servo amplifier. 3. encoder cable faulty (wire breakage or shorted) repair or change cable. cpu/parts fault 1. faulty parts in the servo amplifier change the servo amplifier. al.17 board error the output terminals u, v, w of the servo amplifier and the input terminals u, v, w of the servo motor are not connected. 2. the wiring of u, v, w is disconnected or not connected. correctly connect the output terminals u, v, w of the servo amplifier and the input terminals u, v, w of the servo motor. al.19 memory error 3 rom memory fault faulty parts in the servo amplifier change the servo amplifier.
10 - 7 10. troubleshooting display name definition cause action al.1a motor combination error wrong combination of servo amplifier and servo motor. wrong combination of servo amplifier and servo motor connected. use correct combination. 1. encoder connector (cn2) disconnected. connect correctly. 2. encoder fault change the servo motor. al.20 encoder error 2 communication error occurred between encoder and servo amplifier. 3. encoder cable faulty (wire breakage or shorted) repair or change the cable. 1. power input wires and servo motor power wires are in contact at main circuit terminal block (te1). connect correctly. 2. sheathes of servo motor power cables deteriorated, resulting in ground fault. change the cable. al.24 main circuit error ground fault occurred at the servo motor powers (u,v and w phases) of the servo amplifier. 3. main circuit of servo amplifier failed. checking method alarm (al.24) occurs if the servo is switched on after disconnecting the u, v, w power cables from the servo amplifier. change the servo amplifier. 1. wrong setting of parameter no.0 set correctly. 2. built-in regenerative resistor or regenerative option is not connected. connect correctly. 3. high-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded. checking method call the status display and check the regenerative load ratio. 1. reduce the frequency of positioning. 2. use the regenerative option of larger capacity. 3. reduce the load. 4. power supply voltage is abnormal. mr-e- a-qw003: 260vac or more check the power supply. permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded. 5. built-in regenerative resistor or regenerative option faulty. change servo amplifier or regenerative option. al.30 regenerative error regenerative transistor fault 6. regenerative transistor faulty. checking method 1) the regenerative option has overheated abnormally. 2) the alarm occurs even after removal of the built-in regenerative resistor or regenerative option. change the servo amplifier.
10 - 8 10. troubleshooting display name definition cause action 1. input command pulse frequency exceeded the permissible instantaneous speed frequency. set command pulses correctly. 2. small acceleration/deceleration time constant caused overshoot to be large. increase acceleration/deceleration time constant. 3. servo system is instable to cause overshoot. 1. re-set servo gain to proper value. 2. if servo gain cannot be set to proper value. 1) reduce load inertia moment ratio; or 2) reexamine acceleration/ deceleration time constant. 4. electronic gear ratio is large (parameters no.3, 4) set correctly. al.31 overspeed speed has exceeded the instantaneous permissible speed. 5. encoder faulty. change the servo motor. 1. short occurred in servo amplifier output phases u, v and w. correct the wiring. 2. transistor (ipm) of the servo amplifier faulty. checking method alarm (al.32) occurs if power is switched on after u,v and w are disconnected. change the servo amplifier. 3. ground fault occurred in servo amplifier output phases u, v and w. correct the wiring. al.32 overcurrent current that flew is higher than the permissible current of the servo amplifier. (when the alarm (al.32) occurs, switch the power off and then on to reset the alarm. then, turn on the servo-on. when the alarm (al.32) still occurs at the time, the transistor (ipm igbt) of the servo amplifier may be at fault. do not switch the power off/on repeatedly; check the transistor according to the cause 2 checking method.) 4. external noise caused the overcurrent detection circuit to misoperate. take noise suppression measures. 1. regenerative option is not used. use the regenerative option. 2. though the regenerative option is used, the parameter no.0 setting is " 0 (not used)". make correct setting. 3. lead of built-in regenerative resistor or regenerative option is open or disconnected. 1. change the lead. 2. connect correctly. 4. regenerative transistor faulty. change the servo amplifier. 5. wire breakage of built-in regenerative resistor or regenerative option 1. for wire breakage of built-in regenerative resistor, change the servo amplifier. 2. for wire breakage of regenerative option, change the regenerative option. 6. capacity of built-in regenerative resistor or regenerative option is insufficient. add regenerative option or increase capacity. al.33 overvoltage converter bus voltage exceeded 400vdc. 7. power supply voltage high. check the power supply.
10 - 9 10. troubleshooting display name definition cause action 1. pulse frequency of the command pulse is too high. change the command pulse frequency to a proper value. 2. noise entered command pulses. take action against noise. al.35 command pulse frequency error input pulse frequency of the command pulse is too high. 3. command device failure change the command device. 1. servo amplifier fault caused the parameter setting to be rewritten. change the servo amplifier. 2. regenerative option or servo motor not used with servo amplifier was selected in parameter no.0. set parameter no.0 correctly. al.37 parameter error parameter setting is wrong. 3. the number of write times to eep- rom exceeded 100,000 due to parameter write, etc. change the servo amplifier. 1. servo amplifier faulty. change the servo amplifier. 2. the power supply was turned on and off continuously by overloaded status. the drive method is reviewed. al.45 main circuit device overheat main circuit device overheat 3. air cooling fan of servo amplifier stops. 1. exchange the cooling fan or the servo amplifier. 2. reduce ambient temperature. 1. ambient temperature of servo motor is over 40 (104 ). review environment so that ambient temperature is 0 to 40 (104 ). 2. servo motor is overloaded. 1. reduce load. 2. review operation pattern. 3. use servo motor that provides larger output. al.46 servo motor overheat servo motor temperature rise actuated the thermal sensor. 3. thermal sensor in encoder is faulty. change the servo motor. 1. servo amplifier is used in excess of its continuous output current. 1. reduce load. 2. review operation pattern. 3. use servo motor that provides larger output. 2. servo system is instable and hunting. 1. repeat acceleration/ deceleration to execute auto tuning. 2. change auto tuning response setting. 3. set auto tuning to off and make gain adjustment manually. 3. machine struck something. 1. review operation pattern. 2. install limit switches. 4. wrong connection of servo motor. servo amplifier's output terminals u, v, w do not match servo motor's input terminals u, v, w. connect correctly. al.50 overload 1 load exceeded overload protection characteristic of servo amplifier. 5. encoder faulty. checking method when the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway. change the servo motor.
10 - 10 10. troubleshooting display name definition cause action 1. machine struck something. 1. review operation pattern. 2. install limit switches. 2. wrong connection of servo motor. servo amplifier's output terminals u, v, w do not match servo motor's input terminals u, v, w. connect correctly. 3. servo system is instable and hunting. 1. repeat acceleration/deceleration to execute auto tuning. 2. change auto tuning response setting. 3. set auto tuning to off and make gain adjustment manually. al.51 overload 2 machine collision or the like caused max. output current to flow successively for several seconds. servo motor locked: 1s or more during rotation: 2.5s or more 4. encoder faulty. checking method when the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway. change the servo motor. 1. acceleration/deceleration time constant is too small. increase the acceleration/deceleration time constant. 2. torque limit value (parameter no.28) is too small. increase the torque limit value. 3. motor cannot be started due to torque shortage caused by power supply voltage drop. 1. review the power supply capacity. 2. 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. encoder faulty change the servo motor. al.52 error excessive the difference between the model position and the actual servo motor position exceeds 2.5 rotations. (refer to the function block diagram in section 1.2) 8. wrong connection of servo motor. servo amplifier's output terminals u, v, w do not match servo motor's input terminals u, v, w. connect correctly. 1. communication cable breakage. repair or change communication cable. 2. communication cycle longer than parameter no.56 setting. set correct value in parameter. al.8a serial communication time-out error rs-232c or rs-422 communication stopped for longer than the time set in parameter no.56. 3. wrong protocol. correct protocol. 1. communication cable fault (open cable or short circuit) repair or change the cable. al.8e serial communication error serial communication error occurred between servo amplifier and communication device (e.g. personal computer). 2. communication device (e.g. personal computer) faulty change the communication device (e.g. personal computer). 88888 watchdog cpu, parts faulty fault of parts in servo amplifier change the servo amplifier.
10 - 11 10. troubleshooting 10.2.3 remedies for warnings point when any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier off/on repeatedly. the servo amplifier and servo motor may become faulty. if the power of the servo amplifier is switched off/on during the alarms, allow more than 30 minutes for cooling before resuming operation. excessive regenerative warning (al.e0) overload warning 1 (al.e1) if al.e6 occurs, the servo off status is established. if any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. use the optional mr configurator (servo configuration software) to refer to the cause of the warning. display name definition cause action al.e0 excessive regenerative warning there is a possibility that regenerative power may exceed permissible regenerative power of built-in regenerative resistor or regenerative option. regenerative power increased to 85 or more of permissible regenerative power of built-in regenerative resistor or regenerative option. checking method call the status display and check regenerative load ratio. 1. reduce frequency of positioning. 2. change regenerative 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 overload alarm 1 or 2 occurrence level. cause, checking method refer to al.50, 51. refer to al.50, al.51. al.e6 servo emergency stop warning emg-vin are open. external emergency stop was made valid. (emg-vin opened.) ensure safety and deactivate emergency stop. al.e9 undervoltage warning this alarm occurs when the servo motor speed decreases to or below 50r/min with the bus voltage dropping. check the power supply.
10 - 12 10. troubleshooting memo
11 - 1 11. outline dimension drawings 11. outline dimension drawings 11.1 servo amplifiers (1) mr-e-10a-qw003 mr-e-20a-qw003 6 156 135 50 6 approx.70 6 mass: 0.7 [kg] (1.54 [lb]) [unit: mm] 168 terminal signal layout cnp1 p c d u v w cnp2 terminal screw: m4 tightening torque: 1.2 [n m] (10.6 [lb in]) pe terminals l 1 l 2 l 3 mounting screw screw size: m5 tightening torque: 3.24 [n m] (28.676 [lb in])
11 - 2 11. outline dimension drawings (2) mr-e-40a-qw003 156 22 135 168 6 mass: 1.1 [kg] (2.43 [lb]) [unit: mm] 70 approx.70 6 terminal signal layout pe terminals cnp1 p c d u v w cnp2 terminal screw: m4 tightening torque: 1.2 [n m] (10 .6 [lb in]) l 1 l 2 l 3 mounting screw screw size: m5 tightening torque: 3.24 [n m] (28.676 [lb in])
11 - 3 11. outline dimension drawings (3) mr-e-70a-qw003 mr-e-100a-qw003 70 190 25 159 42 22 156 mass: 1.7 [kg] (3.75 [lb]) approx. 70 6 [unit: mm] 168 6 terminal signal layout pe terminals cnp1 p c d u v w cnp2 terminal screw: m4 tightening torque: 1.2 [n m] (10.6 [lb in]) l 1 l 2 l 3 mounting screw screw size: m5 tightening torque: 3.24 [n m] (28.676 [lb in])
11 - 4 11. outline dimension drawings (4) mr-e-200a-qw003 90 78 168 156 approx. 70 195 6 mass: 2.0 [kg] (4.41 [lb]) [unit: mm] 156 40 6 6 terminal signal layout pe terminals u v w cnp2 cnp1 l 1 l 2 l 3 p c d terminal screw: m4 tightening torque: 1.2 [n m] (10.6 [lb in]) mounting screw screw size: m5 tightening torque: 3.24 [n m] (28.676 [lb in])
11 - 5 11. outline dimension drawings 11.2 connectors (1) miniature delta ribbon (mdr) system (3m) (a) one-touch lock type [unit: mm] e b a 23.8 39.0 12.7 c logo etc, are indicated here. d each type of dimension connector shell kit a b c d e 10126-3000pe 10326-52f0-008 25.8 37.2 14.0 10.0 12.0 (b) jack screw m2.6 type this is not available as option. [unit: mm] e b a 23.8 39.0 12.7 c d 5.2 f logo etc, are indicated here. each type of dimension connector shell kit a b c d e f 10126-3000pe 10326-52a0-008 25.8 37.2 14.0 10.0 12.0 27.4
11 - 6 11. outline dimension drawings (2) cn2 connector (molex) connector set : 54599-1019 12.5 40 22.7 11 [unit: mm] (3) cn3 connector (marushin electric mfg) connector: mp371/6 [unit: mm] 6 44.5 8.95 56 34 2 1 14.8 5
11 - 7 11. outline dimension drawings (4) cnp1 cnp2 connector (molex) (a) crimping type [unit: mm] variable dimensions [mm] ([in]) connector a b number of poles application 51240-0300 17.8 10 3 cnp2 (1kw or less) 51240-0600 32.8 25 6 cnp1 (1kw or less) crimping tool: 57349-5300 (molex) 2.5 5 0.5 25 11.4 8.5 15.3 pitch circuit number indication (a) (b) 6 5 4 3 2 1 [unit: mm] variable dimensions [mm] ([in]) connector a b number of poles application 51241-0300 22.8 15 3 cnp2 (2kw) 51241-0600 45.3 37.5 6 cnp1 (2kw) crimping tool: 57349-5300 (molex) 3.75 circuit number indication (b) a 3 2 1 4 5 6 7.5 pitch 8.5 25 15.3 0.5 11.4
11 - 8 11. outline dimension drawings (b) insertion type [unit: mm] variable dimensions [mm] connector a b number of poles application 54927-0310 16.5 10 3 cnp2 (1kw or less) 54927-0610 31.5 25 6 cnp1 (1kw or less) 5 1.5 26.5 8.5 18 14.3 housing housing cover pitch a (b) 5 [unit: mm] variable dimensions [mm] connector a b number of poles application 54928-0310 21.5 22.5 3 cnp2 (2kw) 54928-0610 44 37.5 6 cnp1 (2kw) 1.5 26.5 8.5 18 14.3 housing housing cover (b) a 7.5 7.5 pitch 5
12 - 1 12. characteristics 12. characteristics 12.1 overload protection characteristics an electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. overload 1 (al.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of figs 12.1, overload 2 (al.51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc. use the equipment on the left-hand side area of the continuous or broken line in the graph. in a machine like the one for vertical lift application where unbalanced torque will be produced, it is recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque. 1000 100 10 1 0.1 0 50 150 200 250 300 (note) load ratio [%] operation time[s] 100 during rotation during servo lock a. mr-e-10a-qw003 to mr-e-100a-qw003 1000 100 10 1 0.1 0 50 150 200 250 300 (note) load ratio [%] operation time[s] 100 during rotation during servo lock b. mr-e-200a-qw003 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 30r/min or less low-speed operation status, the servo amplifier may fail even when the elect ronic thermal relay protection is not activated. fig 12.1 electronic thermal relay protection characteristics 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 values at rated torque and zero torque according to the duty used during operation. when the servo motor is run at less than the maximum speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change. table 12.1 power supply capacity and generated heat per servo amplifier at rated output (note 2) servo amplifier-generated heat [w] area required for heat dissipation servo amplifier servo motor (note 1) power supply capacity [kva] at rated torque with servo off [m 2 ] mr-e-10a-qw003 hf-ke13w1-s100 0.3 25 15 0.5 mr-e-20a-qw003 hf-ke23w1-s100 0.5 25 15 0.5 mr-e-40a-qw003 hf-ke43w1-s100 0.9 35 15 0.7 hf-se52jw1-s100 1.0 40 15 0.8 mr-e-70a-qw003 hf-ke73w1-s100 1.3 50 15 1.0 mr-e-100a-qw003 hf-se102jw1-s100 1.7 50 15 1.0 hf-se152jw1-s100 2.5 90 20 1.8 mr-e-200a-qw003 hf-se202jw1-s100 3.5 90 20 1.8 note 1. note that the power supply capacity will vary according to the power supply impedance. this value assumes that the powe r factor improving reactor is not used. 2. heat generated during regeneration is not included in the servo amplifier-generated heat. to calculate heat generated by the regenerative option, refer to section 13.1.1.
12 - 2 12. characteristics (2) heat dissipation area for enclosed servo amplifier the enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 (104 ). (with a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) the necessary enclosure heat dissipation area can be calculated by equation 12.1. p a kt ............................................................................................................................... .....................(12.1) where, a : heat dissipation area [m 2 ] p : loss generated in the control box [w] t : difference between internal and ambient temperatures [ ] k : heat dissipation coefficient [5 to 6] when calculating the heat dissipation area with equation 12.1, assume that p is the sum of all losses generated in the enclosure. 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 heat dissipation will not be possible. therefore, arrangement of the equipment in the enclosure and the use of a cooling fan should be considered. table 12.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated at the ambient temperature of 40 (104 ) under rated load. (outside) (inside) air flow fig. 12.2 temperature distribution in enclosure when air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the temperature slope inside and outside the enclosure will be steeper.
12 - 3 12. characteristics 12.3 dynamic brake characteristics fig. 12.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. use equation 12.2 to calculate an approximate coasting distance to a stop. the dynamic brake time constant varies with the servo motor and machine operation speeds. (refer to fig. 12.4) v 0 time constant emergency stop(emg) off on machine speed t e time fig. 12.3 dynamic brake operation diagram l max 60 v 0 j l j m t e 1 ............................................................................................................................(12 .2) l max : maximum coasting distance................................................................................................... .............[mm] vo : machine rapid feed rate................................................................................................... .............[mm/min] j m : servo motor inertial moment .......................................................................................... [kg cm 2 ][oz in 2 ] j l : load inertia moment converted into equivalent value on servo motor shaft ................ [kg cm 2 ][oz in 2 ] : brake time constant ......................................................................................................... ........................ [s] t e : delay time of control section ............................................................................................... .................... [s] (there is internal relay delay time of about 30ms.) speed [r/min] time constant [ms] 0 0 1000 2000 5 10 15 20 25 3000 4000 5000 6000 43 13 23 73 speed [r/min] time constant [ms] 52 500 1000 1500 2000 2500 3000 152 20 40 60 80 100 120 0 0 102 202 a. hf-ke w1-s100 b. hf-se jw1-s100 fig. 12.4 dynamic brake time constant use the dynamic brake under the load inertia moment ratio indicated in the following table. if the load inertia moment is higher than this value, the built-in dynamic brake may burn. if there is a possibility that the load inertia moment may exceed the value, contact mitsubishi. servo amplifier load inertia moment ratio [times] mr-e-10a-qw003 to mr-e-200a-qw003 30
12 - 4 12. characteristics 12.4 encoder cable flexing life the flexing life of the cables is shown below. this graph calculated values. since they are not guaranteed values, provide a little allowance for these values. 1 10 7 5 10 7 1 10 8 5 10 6 1 10 6 5 10 5 1 10 5 5 10 4 1 10 4 5 10 3 1 10 3 a b f l e x i n g l i f e [ t i m e s ] 4 7 10 20 40 70 100 200 flexing radius [mm] a : long flex life encoder cable long flex life motor power cable long flex life motor brake cable b : standard encoder cable standard motor power cable standard motor brake cable 12.5 inrush currents at power-on of main circuit and control circuit the following table indicates the inrush currents (reference value) that will flow when the maximum permissible voltage (253vac) is applied at the power supply capacity of 2500kva and the wiring length of 1m. inrush currents (a 0-p ) servo amplifier main circuit power supply (l 1 , l 2 , l 3 ) mr-e-10a-qw003 mr-e-20a-qw003 mr-e-40a-qw003 50a (attenuated to approx. 10a in 10ms) mr-e-70a-qw003 mr-e-100a-qw003 70a (attenuated to approx. 20a in 10ms) mr-e-200a-qw003 110a (attenuated to approx. 20a in 10ms) since large inrush currents flow in the power supplies, always use circuit breakers and magnetic contactors. (refer to section 13.2.2.) when circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an inrush current.
13 - 1 13. options and auxiliary equipment 13. options and auxiliary equipment warning before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. otherwise, an electric shock may occur. in addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. caution use the specified auxiliary equipment and options. unspecified ones may lead to a fault or fire. 13.1 options 13.1.1 regenerative options caution the specified combinations of regenerative options and servo amplifiers may only be used. otherwise, a fire may occur. (1) combination and regenerative power the power values in the table are resistor-generated regenerative powers and not rated powers. permissible regenerative power [w] servo amplifier built-in regenerative resistor mr-rb032 [40 ] mr-rb12 [40 ] mr-rb32 [40 ] mr-rb30 [13 ] (note) mr-rb50 [13 ] mr-e-10a-qw003 30 mr-e-20a-qw003 30 100 mr-e-40a-qw003 10 30 100 mr-e-70a-qw003 20 30 100 300 mr-e-100a-qw003 20 30 100 300 mr-e-200a-qw003 100 300 500 note. always install a cooling fan. (2) selection of the regenerative option (a) simple selection method in horizontal motion applications, select the regenerative option as described below. when the servo motor is run without load in the regenerative mode from the running speed to a stop, the permissible duty is as indicated in section 5.1 of the separately available servo motor instruction manual. for the servo motor with a load, the permissible duty changes according to the inertia moment of the load and can be calculated by the following formula. (m 1) permissible duty permissible duty for servo motor with no load (value in dication section 5.1 in servo motor instruction manual) ratedspeed running speed [times/min] 2 where m load inertia moment/servo motor inertia moment from the permissible duty, find whether the regenerative option is required or not. permissible duty number of positioning times [times/min] select the regenerative option out of the combinations in (1) of this section.
13 - 2 13. options and auxiliary equipment (b) to make selection according to regenerative energy use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. a. regenerative energy calculation use the following table to calculate the regenerative energy. m friction torque u n b a l a n c e t o r q u e t f t u s e r v o m o t o r s p e e d g e n e r a t e d t o r q u e time up no tf(1 cycle) down ( ) ( ) (driving) (regenerative) t psd2 t2 t3 t4 t1 t psa2 t psd1 t psa1 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] energy [j] 1) t 1 (j l j m ) 9.55 10 4 n 0 1 t psa1 t u t f e 1 2 0.1047 n 0 t 1 t psa1 2) t 2 t u t f e 2 0.1047 n 0 t 2 t 1 3) t 3 (j l j m ) 9.55 10 4 n 0 1 t psd1 t u t f e 3 2 0.1047 n 0 t 3 t psd1 4), 8) t 4 t u e 4 0 (no regeneration) 5) (j l j m ) t 5 9.55 10 4 n 0 1 t psa2 t u t f e 5 2 0.1047 n 0 t 5 t psa2 6) t 6 t u t f e 6 0.1047 n 0 t 6 t 3 7) (j l j m ) t 7 9.55 10 4 n 0 1 t psd2 t u t f e 7 2 0.1047 n 0 t 7 t psd2 from the calculation results in 1) to 8), find the absolute value (es) of the sum total of negative energies. b. losses of servo motor and servo amplifier in regenerative mode the following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. servo amplifier inverse efficiency [ ] capacitor charging [j] mr-e-10a-qw003 55 9 mr-e-20a-qw003 70 9 mr-e-40a-qw003 85 11 mr-e-70a-qw003 80 18 mr-e-100a-qw 003 80 18 mr-e-200a-qw 003 85 40 inverse efficiency ( ) :efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. since the efficiency varies with the speed and torque, allow for about 10 . capacitor charging (ec) :energy charged into the electrolytic capacitor in the servo amplifier.
13 - 3 13. options and auxiliary equipment subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option. er [j] es ec calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf [s] to select the necessary regenerative option. pr [w] er/tf (3) connection of the regenerative option set parameter no.2 according to the option to be used. parameter no.0 selection of regenerative option 0: regenerative option is not used for the servo amplifier of 200w or lower, lower, regenerative resistor is not used. for the servo amplifier of 400w or higher, built-in regenerative resistor is used. 2: mr-rb032 3: mr-rb12 4: mr-rb32 5: mr-rb30 6: mr-rb50 ( coolin g fan is required ) (4) connection of the regenerative option point when using the mr-rb50, cooling by a cooling fan is required. please obtain a cooling fan at your discretion. the regenerative option will cause a temperature rise of 100 relative to the ambient temperature. fully examine heat dissipation, installation position, used cables, etc. before installing the option. for wiring, use flame-resistant cables and keep them clear of the regenerative option body. always use twisted cables of max. 5m length for connection with the servo amplifier. always remove the wiring from across p-d and fit the regenerative option across p-c. the g3 and g4 terminals act as a thermal sensor. g3-g4 are disconnected when the regenerative option overheats abnormally. servo amplifier regenerative option always remove the lead from across p-d. d p c g4 g3 (note 2) 5m max. cooling fan (note 1) c p note 1. when using the mr-rb50, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m 3 ). 2. make up a sequence which will switch off the magnetic contactor (mc) when abnormal heating occurs. g3-g4 contact specifications maximum voltage: 120v ac/dc maximum current: 0.5a/4.8vdc maximum capacity: 2.4va
13 - 4 13. options and auxiliary equipment (5) outline drawing (a) mr-rb032 mr-rb12 la 5 lb te1 6 6 1 5 6 1 6 8 1 4 4 1 2 6 1 2 20 ld 1.6 lc g3 g4 p c [unit: mm] 6 mounting hole mr-rb te1 terminal block g4 g3 c p terminal screw: m3 tightening torque: 3.24[n m](28.68 [lb in]) mounting screw screw size: m5 tightening torque: 0.5 to 0.6 [n m](4 to 5 [lb in]) variable dimensions mass regenerative option la lb lc ld [kg] [lb] mr-rb032 30 15 119 99 0.5 1.1 mr-rb12 40 15 169 149 1.1 2.4 (b) mr-rb32 mr-rb30 7 10 90 100 335 17 318 mounting screw g4 g3 c p terminal screw: m4 tightening torque: 1.2 [n m] (10.6 [lb in]) [unit: mm] terminal block tightening torque: 5.4 [n m](47.79 [lb in]) regenerative option mr-rb30 mr-rb32 2.9 (6.4) mass [kg] (lb) screw : m6
13 - 5 13. options and auxiliary equipment (c) mr-rb50 2.3 133 82.5 49 82.5 200 17 217 8 120 108 12 12.5 162.5 350 162.5 12.5 7 (30) 7 14 slot cooling fan mounting screw (2-m3 screw) on opposite side wind blows in the arrow direction g3 g4 p c tightening torque: 5.4 [n m](47.79 [lb in]) terminal block g4 g3 c p terminal screw: m4 tightening torque: 1.2 [n m](10.6 [lb in]) [unit: mm (in)] mounting screw screw : m6 regenerative option mass [kg(lb)] mr-rb50 5.6 (12.3)
13 - 6 13. options and auxiliary equipment 13.1.2 cables and connectors point protective structure indicated for cables and connecters is for a cable or connector alone. when the cables and connectors are used to connect the servo amplifier and servo motor, and if protective structures of the servo amplifier and servo motor are lower than that of the cable and connector, specifications of the servo amplifier and servo motor apply. (1) cable make-up the following cables are used for connection with the servo motor and other models. those indicated by broken lines in the figure are not options. 14) 12) 13) 9) 13) power supply analog monitor analog moniter power supply connector brake connector encoder connector cnp1 cnp2 cn3 cn1 cn2 servo motor hf-se jw1-s100 regenerative option 6) 1) 2) 40) 41) 34) 35) 10) 11) 20) 21) 28) 29) 18) 19) 22) 23) 15) 16) 17) 3) 4) 5) 7) 8) 36) 37) 38) 39) 20) 21) 22) 23) operation panel controller servo amplifier 30) 31) 32) 33) 24) 25) 26) 27) personal computer direct connection type (cable length 10m or less, ip65) to 24vdc power supply for electromagnetic brake junction type (cable length more than 10m, ip20) power supply connector brake connector encoder connector servo motor hf-ke w1-s100
13 - 7 13. options and auxiliary equipment no. product model description application 1) standard encoder cable mr-ekcbl m-l refer to (2) (a) in this section. receptacle: 36210-0100pl shell kit: 36310-3200-008 (3m) or connector set: 54599-1019 (molex) housing: 1-172161-9 connector pin: 170359-1 (tyco electronics or equivalent) cable clamp: mti-0002 (toa denki kogyo) standard flexing life ip20 2) long flex life encoder cable mr-ekcbl m-h refer to (2) (a) in this section. long flex life ip20 3) standard encoder cable mr-escbl m-l refer to (2) (d) in this section. receptacle: 36210-0100pl shell kit: 36310-3200-008 (3m) or connector set: 54599-1019 (molex) plug: d/ms3106b20-29s cable clamp: d/ms3057-12a (ddk) standard flexing life ip20 4) long flex life encoder cable mr-escbl m-h refer to (2) (e) in this section. long flex life ip20 receptacle: 36210-0100pl shell kit: 36310-3200-008 (3m) or connector set: 54599-1019 (molex) plug: d/ms3106a20-29s (d190) cable clamp : ce3057-12a-3-d back shell: ce02-20bs-s-d (ddk) 5) ip65/ip67- compliant encoder cable mr-enecbl m-h refer to (2) (e) in this section. long flex life ip65 ip67 not oil- resistant. receptacle: 36210-0100pl shell kit: 36310-3200-008 (3m) or connector set: 54599-1019 (molex) housing: 1-172161-9 connector pin: 170359-1 (tyco electronics or equivalent) cable clamp: mti-0002 (toa denki kogyo) 6) encoder connector set mr-ecnm ip20 receptacle: 36210-0100pl shell kit: 36310-3200-008 (3m) or connector set: 54599-1019 (molex) plug: d/ms3106b20-29s cable clamp: d/ms3057-12a (ddk) 7) encoder connector set mr-ecns ip20 receptacle: 36210-0100pl shell kit: 36310-3200-008 (3m) or connector set: 54599-1019 (molex) plug: d/ms3106a20-29s (d190) cable clamp : ce3057-12a-3-d back shell: ce02-20bs-s-d (ddk) 8) encoder connector set mr-enecns ip65 ip67 9) control signal connector set mr-ecn1 (in units of 20 pcs. /box) connector: 10126-3000pe shell kit: 10326-52f0-008 (3m or equivalent)
13 - 8 13. options and auxiliary equipment no. product model description application 10) amplifier power supply connector set (insulation displacement type) mr-e-10a-qw003 to mr-e-100a- qw003 mr-ecnp1-a (in units of 20 pcs. /box) connector: 51240-0600 (molex or equivalent) terminal: 56125-0128 (molex or equivalent) insulation displacement type 11) amplifier power supply connector set (insertion type) mr-e-10a-qw003 to mr-e-100a- qw003 mr-ecnp1-b (in units of 20 pcs. /box) connector: 54927-0610 (molex or equivalent) insertion type 12) analog monitor rs-232c branch cable mr-e3cbl15-p connector: mp371/6 connector: mj372/6 (marushin musen denki or equivalent) analog monitor rs- 232c branch cable 13) analog monitor rs-232c connector mr-ecn3 (in units of 20 pcs. /box) connector: mp371/6 (marushin musen denki or equivalent) analog monitor for rs-232c 14) communication cable refer to (3) in this section. qc30r2 connector: mp371/6 (mini-din 6-pin male) (marushin musen denki or equivalent) connector: de-9sf-n case: de-c1-j6-s6 (jae) for connection with pc-at compatible personal computer 15) motor power supply connector set mr-pwcns4 (for hf-sp52 102 152 motor) plug: ce05-6a18-10sd-d-bss cable clamp: ce3057-10a-1-d (ddk) example of applicable cable wire size: 2mm 2 (awg14) to 3.5mm 2 (awg12) cable finish d: 10.5 to 14.1mm ip67 16) motor power supply connector set mr-pwcns5 (for hf-sp202 352 motor) plug: ce05-6a22-22sd-d-bss cable clamp: ce3057-12a-1-d (ddk) example of applicable cable wire size: 5.5mm 2 (awg10) to 8mm 2 (awg8) cable finish d: 12.5 to 16mm ip65 ip67 17) brake connector set mr-bkcns1 straight plug: cm10-sp2s-l socket contact: cm10-#22sc(s2)-100 (ddk) ip65 ip67 18) motor power supply connector (insulation displacement type) mr-e-10a-qw003 to mr-e-100a- qw003 mr-ecnp2-a (in units of 20 pcs. /box) connector: 51240-0300 (molex or equivalent) terminal: 56125-0128 (molex or equivalent) insulation displacement type 19) motor power supply connector (insertion type) mr-e-10a-qw003 to mr-e-100a- qw003 mr-ecnp2-b (in units of 20 pcs. /box) connector: 54927-0310 (molex or equivalent) insertion type
13 - 9 13. options and auxiliary equipment no. product model description application 20) amplifier power supply connector set (insulation displacement type) mr-e-200a- qw003 mr-ecnp1-a1 (in units of 20 pcs. /box) connector: 54241-0600 (molex or equivalent) terminal: 56125-0128 (molex or equivalent) insulation displacement type 21) amplifier power supply connector set (insertion type) mr-e-200a- qw003 mr-ecnp1-b1 (in units of 20 pcs. /box) connector: 54928-0610 (molex or equivalent) insertion type 22) motor power supply connector (insulation displacement type) mr-e-200a- qw003 mr-ecnp2-a1 (in units of 20 pcs. /box) connector: 54241-0300 (molex or equivalent) terminal: 56125-0118 (molex or equivalent) insulation displacement type 23) motor power supply connector (insertion type) mr-e-200a- qw003 mr-ecnp2-b1 (in units of 20 pcs. /box) connector: 54928-0310 (molex or equivalent) insertion type 24) motor power supply cable mr-pws1cbl m- a1-l cable length: 2 5 10m ip65 load side lead 25) motor power supply cable mr-pws1cbl m- a1-h cable length: 2 5 10m hf-ke w1-s100 power supply connector refer to section 13.1.2 (4) for details. ip65 load side lead long flex life 26) motor power supply cable mr-pws1cbl m- a2-l cable length: 2 5 10m ip65 opposite-to- load side lead 27) motor power supply cable mr-pws1cbl m- a2-h cable length: 2 5 10m hf-ke w1-s100 power supply connector refer to section 13.1.2 (4) for details. ip65 opposite-to- load side lead long flex life 28) motor power supply cable mr-pws2cbl03m- a1-l cable length: 0.3m power supply connector hf-ke w1-s100 refer to section 13.1.2 (4) for details. ip55 load side lead 29) motor power supply cable mr- pws2cbl03m-a2- l cable length: 0.3m hf-ke w1-s100 power supply connector refer to section 13.1.2 (4) for details. ip55 opposite-to- load side lead
13 - 10 13. options and auxiliary equipment no. product model description application 30) motor brake cable mr-bks1cbl m- a1-l cable length: 2 5 10m ip65 load side lead 31) motor brake cable mr-bks1cbl m- a1-h cable length: 2 5 10m brake connector hf-ke w1-s100 refer to section 13.1.2 (5) for details. ip65 load side lead long flex life 32) motor brake cable mr-bks1cbl m- a2-l cable length: 2 5 10m ip65 opposite-to- load side lead 33) motor brake cable mr-bks1cbl m- a2-h cable length: 2 5 10m hf-ke w1-s100 brake connector refer to section 13.1.2 (5) for details. ip65 opposite-to- load side lead long flex life 34) motor brake cable mr-bks2cbl03m- a1-l cable length: 0.3m hf-ke w1-s100 brake connector refer to section 13.1.2 (5) for details. ip55 load side lead 35) motor brake cable mr-bks2cbl03m- a2-l cable length: 0.3m hf-ke w1-s100 brake connector refer to section 13.1.2 (5) for details. ip55 opposite-to- load side lead 36) encoder cable mr-j3encbl m- a1-l cable length: 2 5 10m ip65 load side lead 37) encoder cable mr-j3encbl m- a1-h cable length: 2 5 10m hf-ke w1-s100 encoder connector refer to section 13.1.2 (2) (a) for details. ip65 opposite-to- load side lead long flex life 38) encoder cable mr-j3encbl m- a2-l cable length: 2 5 10m ip65 opposite-to- load side lead 39) encoder cable mr-j3encbl m- a2-h cable length: 2 5 10m hf-ke w1-s100 encoder connector refer to section 13.1.2 (2) (a) for details. ip65 opposite-to- load side lead long flex life 40) encoder cable mr-j3jcbl03m- a1-l cable length: 0.3m hf-ke w1-s100 encoder connector refer to section 13.1.2 (2) (c) for details. ip20 load side lead
13 - 11 13. options and auxiliary equipment no. product model description application 41) encoder cable mr-j3jcbl03m- a2-l cable length: 0.3m hf-ke w1-s100 encoder connector refer to section 13.1.2 (2) (c) for details. ip20 opposite-to- load side lead (2) encoder cable connector sets caution if you have fabricated the encoder cable, connect it correctly. otherwise, not doing so may cause unexpected operation. point the encoder cable is not oil resistant. refer to section 12.4 for the flexing life of the encoder cable. when the encoder cable is used, the sum of the resistance values of the cable used for p5 and the cable used for lg should be within 2.4 . when soldering the wire to the connector pin, insulate and protect the connection portion using heat-shrinkable tubing. when using the encoder cable of four-wire type communication system, set "1 " in parameter no.20 to select the four-wire type. generally use the encoder cable available as our options. if the required length is not found in the options, fabricate the cable on the customer side. when fabricating an encoder cable, use the selection example of 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.
13 - 12 13. options and auxiliary equipment (a) mr-j3encbl m-a1-l/h mr-j3encbl m-a2-l/h these cables are encoder cables for the hf-ke w1-s100 series servo motors. the numerals in the cable length field of the table are the symbols entered in the part of the cable model. the cables of the lengths with the symbols are available. cable length cable model 2m 5m 10m 20m 30m 40m 50m protective structure flex life application mr-j3encbl m-a1-l 2 5 10 ip65 standard mr-j3encbl m-a1-h 2 5 10 ip65 long flex life for hf-ke w1-s100 servo motor load side lead mr-j3encbl m-a2-l 2 5 10 ip65 standard mr-j3encbl m-a2-h 2 5 10 ip65 long flex life for hf-ke w1-s100 servo motor opposite-to-load side lead 1) connection of servo amplifier and servo motor cn2 servo amplifier 2) 1) servo motor hf-ke w1-s100 mr-j3encbl m-a2-l mr-j3encbl m-a2-h 2) 1) servo motor hf-ke w1-s100 mr-j3encbl m-a1-l mr-j3encbl m-a1-h or cable model 1) for cn2 connector 2) for encoder connector mr-j3encbl m-a1-l receptacle: 36210-0100pl shell kit: 536310-3200-008 (3m) connector set: 54599-1019 (molex) mr-j3encbl m-a1-h mr-j3encbl m-a2-l 1 3 7 9 4 2 8 6 10 5 (note) signal layout view seen from wiring side. or 4 mrr 2 lg 8 6 1 p5 5 10 3 mr 7 9 (note) signal layout view seen from wiring side. mrr lg p5 mr connector: 1674320-1 crimping tool for ground clip: 1596970-1 crimping tool for receptacle contact: 1596847-1 (tyco electronics) 9 shd 7 5 mr 3 p5 1 8 6 p5g 4 mrr 2 view seen from wiring side. (note) signal layout mr-j3encbl m-a2-h note. keep open the pins shown with . especially, pin 10 is provided for manufacturer adjustment. if it is connected with any other pin, the servo amplifier cannot operate normally. note. keep open the pin shown with an .
13 - 13 13. options and auxiliary equipment 2) cable internal wiring diagram p5 lg 1 2 mr mrr 3 4 2 3 9 sd plate 5 4 6 9 lg mr mrr shd p5 (note) servo amplifier side connector encoder side connector mr-j3encbl2m-l/-h mr-j3encbl5m-l/-h mr-j3encbl10m-l/-h note. when an encoder cable is fabricated, this wire is not required. (b) mr-ekcbl m-l/h point the following encoder cables are of four-wire type. when using any of these encoder cables, set parameter no.20 to "1 " to select the four-wire type. mr-ekcbl30m-l mr-ekcbl30m-h mr-ekcbl40m-h mr-ekcbl50m-h the servo amplifier and servo motor cannot be connected with these cables only. the servo motor side encoder cable (mr-j3jcbl03m-a1-l or mr-j3jcbl03m-a2-l) is required. the numerals in the cable length field of the table are the symbols entered in the part of the cable model. the cables of the lengths with the symbols are available. cable length cable model 2m 5m 10m 20m 30m 40m 50m protective structure flex life application mr-ekcbl m-l 20 (note) 30 ip20 standard mr-ekcbl m-h 20 (note) 30 (note) 40 (note) 50 ip20 long flex life for hf-ke w1-s100 servo motor use in combination with mr-j3jcbl03m-a1-l or mr-j3jcbl03m-a2-l. note. four-wire type cable.
13 - 14 13. options and auxiliary equipment 1) connection of servo amplifier and servo motor cn2 servo amplifier servo motor hf-ke w1-s100 1) mr-ekcbl m-l mr-ekcbl m-h mr-j3jcbl03m-l cable length: 0.3m 2) cable model 1) cn2 connector 2) junction connector receptacle: 36210-0100pl shell kit: 536310-3200-008 (3m) connector set: 54599-1019 (molex) mr-ekcbl m-l 1 3 7 9 4 2 8 6 10 5 (note) signal layout view seen from wiring side. or 4 mrr 2 lg 8 6 1 p5 5 10 3 mr 7 9 (note) signal layout view seen from wiring side. mrr lg p5 mr mdr md mdr md mr-ekcbl m-h note. keep open the pins shown with . especially, pin 10 is provided for manufacturer adjustment. if it is connected with any other pin, the servo amplifier cannot operate normally. housing: 1-172161-9 connector pin: 170359-1 (tyco electronics or equivalent) cable clamp: mti-0002 (toa electric industries) mr 123 mrr md 456 mdr p5 789 lg shd signal layout view seen from wiring side. cont
13 - 15 13. options and auxiliary equipment 2) internal wiring diagram mr-ekcbl20m-l servo amplifier side encoder side p5 lg 1 2 mr mrr 3 4 3 7 9 sd plate 1 2 8 9 p5g mr mrr shd p5e (note ) mr-ekcbl30m-l servo amplifier side encoder side p5 lg 1 2 mr mrr 3 4 mdr 8 5 3 7 4 md 7 9 sd 1 2 8 9 p5g mr mrr mdr md shd p5e 6cont plate (note) mr-ekcbl20m-h servo amplifier side encoder side p5 lg 1 2 mr mrr 3 4 3 7 9 sd 1 2 8 9 p5g mr mrr shd p5e (note) plate mr-ekcbl30m-h mr-ekcbl40m-h mr-ekcbl50m-h servo amplifier side encoder side p5 lg 1 2 mr mrr 3 4 mdr 8 5 3 7 4 md 7 9 sd 1 2 8 9 p5g mr mrr mdr md shd p5e 6cont (note) plate note. when an encoder cable is fabricated, this wire is not required. when fabricating the cable, use the wiring diagram corresponding to the length indicated below. applicable wiring diagram cable flex life less than 10m 30m to 50m standard mr-ekcbl20m-l long flex life mr-ekcbl20m-h mr-ekcbl30m-h mr-ekcbl40m-h mr-ekcbl50m-h
13 - 16 13. options and auxiliary equipment 3) when fabricating the encoder cable when fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in 2). refer to section 13.2.1 for the specifications of the used cable. parts/tool description connector set mr-ecnm servo amplifier side connector receptacle: 36210-0100pl shell kit: 536310-3200-008 (3m) or connector set: 54599-1019 (molex) encoder side connector housing: 1-172161-9 connector pin: 170359-1 (tyco electronics or equivalent) cable clamp: mti-0002 (toa electric industries) (c) mr-j3jcbl03m-a1-l mr-j3jcbl03m-a2-l the servo amplifier and servo motor cannot be connected with these cables only. the servo motor side encoder cable (mr-ekcbl m-l/h) is required. cable model cable length protective structure flex life application mr-j3jcbl03m-a1-l for hf-ke w1-s100 servo motor load side lead use in combination with mr-ekcbl m-l/h. mr-j3jcbl03m-a2-l 0.3m ip20 standard for hf-ke w1-s100 servo motor opposite-to-load side lead use in combination with mr-ekcbl m-l/h.
13 - 17 13. options and auxiliary equipment (d) mr-escbl m-l (standard flex life model) these encoder cables are used with the hf-se jw1-s100 servo motors. 1) model explanation standard flex life model: mr-escbl m-l symbol cable length communication system 2 5 10 20 30 two-wire type (note) four-wire type note. set "1 " in parameter no.20. 2 5 10 20 30 2) connection diagram for the pin assignment on the servo amplifier side, refer to section 3.3.1. cn2 a b c d e f g h j k l m a b c mr d mrr e f g h j k l m n shd p r lg s p5 t servo amplifier 50m max. encoder connector servo motor encoder encoder connector pin signal encoder cable (optional or fabricated) pin signal r s t p n md mdr cont a) encoder cable of less than 30m when fabricating an encoder cable, use the mr-ecns connector set. referring to the following wiring diagram, you can fabricate an encoder cable of up to less than 30m. mrr mrr p5 lg 1 2 mr 3 4 f s 9 sd c d r n mr-escbl20m-l p5g mr mrr shd p5e p5 lg 1 2 mr 3 4 f s 9 sd c d r n mr-escbl2m-l mr-escbl5m-l mr-escbl10m-l p5g mr mrr shd p5e awg23 servo amplifier side encoder side plate plate servo amplifier side encoder side (note) (note) note. when an encoder cable is fabric ated, this wire is not required.
13 - 18 13. options and auxiliary equipment b) 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-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 mcont servo amplifier side encoder side plate (note) note. when an encoder cable is fabricated, this wire is not required.
13 - 19 13. options and auxiliary equipment (e) mr-escbl m-h (long flex life model) mr-enecbl m-h (ip65/ip67-compatible, long flex life model) these encoder cables are used with the hc-sfe series servo motors. 1) model explanation long flex life model: mr-escbl m-h symbol cable length communication system 2 5 10 20 30 two-wire type (note) four-wire type note. set "1 " in parameter no.20. 2 5 10 20 30 40 50 40 50 model: mr-enecbl m-h long flex life symbol cable length communication system 2 5 10 20 30 two-wire type (note) four-wire type note. set "1 " in parameter no.20. 2 5 10 20 30 40 50 40 50
13 - 20 13. options and auxiliary equipment 2) connection diagram for the pin assignment on the servo amplifier side, refer to section 3.3.1. cn2 a b c d e f g h j k l m a b c mr d mrr e f g h j k l m n shd p r lg s p5 t servo amplifier 50m max. encoder connector servo motor encoder encoder connector pin signal encoder cable (optional or fabricated) pin signal r s t p n md mdr cont a) encoder cable of less than 30m when fabricating an encoder cable, use the mr-ecns (ip20-compatible model) or mr-enecns (ip65/ip67-compatible model) connector set. referring to the following wiring diagram, you can fabricate an encoder cable of up to less than 30m. mrr mrr p5 lg 1 2 mr 3 4 f s 9 sd c d r n mr-escbl20m-h mr-enecbl20m-h p5g mr mrr shd p5e p5 lg 1 2 mr 3 4 f s 9 sd c d r n mr-escbl2m-h mr-escbl5m-h mr-escbl10m-h mr-enecbl2m-h mr-enecbl5m-h mr-enecbl10m-h p5g mr mrr shd p5e servo amplifier side encoder side plate plate servo amplifier side encoder side (note) (note) note. when an encoder cable is fabricated, this wire is not required.
13 - 21 13. options and auxiliary equipment b) 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-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 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 mcont servo amplifier side encoder side plate (note) note. when an encoder cable is fabricated, this wire is not required.
13 - 22 13. options and auxiliary equipment (3) communication cable point this cable may not be used with some personal computers. after fully examining the signals of the rs-232c connector, refer to this section and fabricate the cable. (a) model definition model: qc30r2 (cable length 3[m]) (b) connection diagram for fabrication 3 2 5 7 8 6 4 plate 1 3 2 txd rxd gnd rts cts dsr 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 sd securely. 2) the optional communication cable is 3m long. when the cable is fabricated, its maximum length is 15m in offices of good environment with minimal noise.
13 - 23 13. options and auxiliary equipment (4) motor power supply cables these cables are motor power supply cables for the hf-ke w1-s100 servo motors. the numerals in the cable length field of the table are the symbols entered in the part of the cable model. the cables of the lengths with the symbols are available. refer to section 3.8 when wiring. cable length cable model 0.3m 2m 5m 10m protective structure flex life application mr-pws1cbl m-a1-l 2 5 10 ip65 standard for hf-ke w1-s100 servo motor load side lead mr-pws1cbl m-a2-l 2 5 10 ip65 standard for hf-ke w1-s100 servo motor opposite-to-load side lead mr-pws1cbl m-a1-h 2 5 10 ip65 long flex life for hf-ke w1-s100 servo motor load side lead mr-pws1cbl m-a2-h 2 5 10 ip65 long flex life for hf-ke w1-s100 servo motor opposite-to-load side lead mr-pws2cbl m-a1-l 03 ip55 standard for hf-ke w1-s100 servo motor load side lead mr-pws2cbl m-a2-l 03 ip55 standard for hf-ke w1-s100 servo motor opposite-to-load side lead
13 - 24 13. options and auxiliary equipment (a) connection of servo amplifier and servo motor cn2 servo amplifier 1) for motor power supply connector servo motor hf-ke w1-s100 mr-pws1cbl m-a2-l mr-pws1cbl m-a2-h mr-pws2cbl03m-a2-l 1) servo motor hf-ke w1-s100 mr-pws1cbl m-a1-l mr-pws1cbl m-a1-h mr-pws2cbl03m-a1-l or cable model 1) for motor power supply connector mr-pws1cbl m-a1-l mr-pws1cbl m-a2-l mr-pws1cbl m-a1-h mr-pws1cbl m-a2-h connector: jn4ft04sj1-r hod, socket insulator bushing, ground nut contact: st-tmh-s-c1b-100-(a534g) crimping tool: ct160-3-tmh5b (japan aviation electronics industry) mr-pws2cbl03m-a1-l mr-pws2cbl03m-a2-l connector: jn4ft04sj2-r hod, socket insulator bushing, ground nut contact: st-tmh-s-c1b-100-(a534g) crimping tool: ct160-3-tmh5b (japan aviation electronics industry) u v w 1 2 3 4 view seen from wiring side. signal layout (b) internal wiring diagram awg 19 (red) awg 19 (white) awg 19 (black) awg 19 (green/yellow) u v w mr-pws1cbl m-a1-h mr-pws1cbl m-a2-h mr-pws2cbl03m-a1-l mr-pws2cbl03m-a2-l (note) note. these are not shielded cables.
13 - 25 13. options and auxiliary equipment (5) motor brake cables these cables are motor brake cables for the hf-ke w1-s100 servo motors. the numerals in the cable length field of the table are the symbols entered in the part of the cable model. the cables of the lengths with the symbols are available. refer to section 3.8 when wiring. cable length cable model 0.3m 2m 5m 10m protective structure flex life application mr-pws1cbl m-a1-l 2 5 10 ip65 standard for hf-ke w1-s100 servo motor load side lead mr-pws1cbl m-a2-l 2 5 10 ip65 standard for hf-ke w1-s100 servo motor opposite-to-load side lead mr-pws1cbl m-a1-h 2 5 10 ip65 long flex life for hf-ke w1-s100 servo motor load side lead mr-pws1cbl m-a2-h 2 5 10 ip65 long flex life for hf-ke w1-s100 servo motor opposite-to-load side lead mr-pws2cbl m-a1-l 03 ip55 standard for hf-ke w1-s100 servo motor load side lead mr-pws2cbl m-a2-l 03 ip55 standard for hf-ke w1-s100 servo motor opposite-to-load side lead
13 - 26 13. options and auxiliary equipment (a) connection of servo amplifier and servo motor 1) 24vdc power supply for electromagnetic brake mr-bks1cbl m-a2-l mr-bks1cbl m-a2-h mr-bks2cbl03m-a2-l 1) servo motor hf-ke w1-s100 mr-bks1cbl m-a1-l mr-bks1cbl m-a1-h mr-bks2cbl03m-a1-l or servo motor hf-ke w1-s100 cable model 1) for motor brake connector mr-bks1cbl m-a1-l mr-bks1cbl m-a2-l mr-bks1cbl m-a1-h mr-bks1cbl m-a2-h connector: jn4ft02sj1-r hod, socket insulator bushing, ground nut contact: st-tmh-s-c1b-100-(a534g) crimping tool: ct160-3-tmh5b (japan aviation electronics industry) mr-bks2cbl03m-a1-l mr-bks2cbl03m-a2-l connector: jn4ft02sj2-r hod, socket insulator bushing, ground nut contact: st-tmh-s-c1b-100-(a534g) crimping tool: ct160-3-tmh5b (japan aviation electronics industry) b1 b2 1 2 view seen from wiring side. signal layout (b) internal wiring diagram awg 20 awg 20 b1 b2 mr-bks1cbl m-a1-h mr-bks1cbl m-a2-h mr-bks2cbl03m-a1-l mr-bks2cbl03m-a2-l (note) note. these are not shielded cables.
13 - 27 13. options and auxiliary equipment 13.1.3 analog monitor, rs-232c branch cable (mr-e3cbl15-p) (1) usage the analog monitor, rs-232c branch cable (mr-e3cbl15-p) is designed for use when a personal computer and analog monitor outputs are used at the same time. cn3 mo2 mo1 lg lg servo amplifie r 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
13 - 28 13. options and auxiliary equipment 13.1.4 mr configurator (servo configurations software) the mr configurator (servo configurations software mrzjw3-setup154e, 154c) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) specifications item description model 154e: english, 154c: chinese communication signal conforms to rs-232c. baud rate [bps] 57600, 38400, 19200, 9600 system station selection, automatic demo monitor display, high speed monitor, trend graph minimum resolution changes with the processing speed of the personal computer. alarm display, history, amplifier data diagnostic digital i/o, no motor rotation, total power-on time, amplifier version info, motor information, tuning data, automatic vc offset display, axis name setting. parameters parameter list, turning, change list, detailed information test operation jog operation, positioning operation, operation w/o motor, forced output, demo mode. advanced function machine analyzer, gain search, machine simulation. file operation data read, save, print others automatic demo, help display (2) system configuration (a) components to use this mr configurator (servo configurations software), the following components are required in addition to the servo amplifier and servo motor. model (note 1) description (note 2) personal computer ibm pc-at compatible where the english version and chinese version of windows ? 95, windows ? 98, windows ? me, windows nt ? workstation 4.0, windows ? 2000 professional, windows ? xp professional and windows ? xp home edition operates processor: pentium ? 133mhz or more (windows ? 95, windows ? 98, windows nt ? workstation 4.0, windows ? 2000 professional) pentium ? 150mhz or more (windows ? me) pentium ? 300mhz or more (windows ? xp professional, windows ? xp home edition) memory: 16mb or more (windows ? 95), 24mb or more (windows ? 98) 32mb or more (windows ? me, windows nt ? workstation 4.0, windows ? 2000 professional) 128mb or more (windows ? xp professional, windows ? xp home edition) free hard disk space: 60mb or more serial port used os windows ? 95, windows ? 98, windows ? me, windows nt ? workstation 4.0, windows ? 2000 professional, windows ? xp professional, windows ? xp home edition (english version, chinese version) display one whose resolution is 800 600 or more and that can provide a high color (16 bit) display. connectable with the above personal computer. keyboard connectable with the above personal computer. mouse connectable with the above personal computer. note that a serial mouse is not used. printer connectable with the above personal computer. communication cable qc30r2 when this cannot be used, refer to section 13.1.2 (3) and fabricate. note 1. windows and windows nt are the registered trademarks of microsoft corporation in the united states and other countries. pentium is the registered trademarks of intel corporation. 2. on some personal computers, this mr configurator (servo configurations software) may not run properly. (b) configuration diagram cn3 cn2 personal computer to rs-232c connector communication cable servo amplifier servo motor
13 - 29 13. options and auxiliary equipment 13.2 auxiliary equipment always use the devices indicated in this section or equivalent. to comply with the en standard or ul/c-ul (csa) standard, use the products which conform to the corresponding standard. 13.2.1 selection example of wires (1) wires for power supply wiring the following diagram shows the wires used for wiring. use the wires given in this section or equivalent. c p u v w b1 b2 u v w l 1 l 2 l 3 d power supply 1) power supply lead regenerative option 3) regenerative option lead (note) servo amplifier 2) motor power supply lead 4) electromagnetic brake lead encoder cable (refer to section 13.1.2) motor electro- magnetic brake encoder servo motor note. when using the regenerative option, always remove the wiring across d-p. the following table lists wire sizes. the wires used assume that they are 600v vinyl wires and the wiring distance is 30m max. if the wiring distance is over 30m, choose the wire size in consideration of voltage drop. refer to section 3.11 for connection with the connector (cnp1, cnp2). the servo motor side connection method depends on the type and capacity of the servo motor. refer to section 3.8. to enable the built-in regenerative brake, connect the wiring across d-p. (refer to section 3.7.2 for the connection method.) to comply with the ul/c-ul (csa) standard, use ul-recognized copper wires rated at 60 (140 ) or more for wiring. table 13.1 selection example of wires (note) wires [mm 2 ] servo amplifier 1) l 1 l 2 l 3 3) u v w 4) p c d 5) b1 b2 mr-e-10a-qw003 mr-e-20a-qw003 mr-e-40a-qw003 mr-e-70a-qw003 1.25 (awg16) mr-e-100a-qw003 2 (awg14) 2 (awg14) mr-e-200a-qw003 (note) 2.5 (awg14) (note) 2.5 (awg14) 2 (awg14) 1.25 (awg16) note. use the heat-resistant pvc cable (rated 105 (221 ) or more ), if awg14 cable is used in ambient temperature 40 (104 ) or more .
13 - 30 13. options and auxiliary equipment (2) wires for cables when fabricating a cable, use the wire models given in the following table or equivalent. table 13.2 wires for option cables characteristics of one core type model length [mm] core size [mm 2 ] number of cores structure [wires/mm] conductor resistance [ /mm] insulation coating odd [mm] (note 1) (note 2) finishing od [mm] wire model 0.3 4 (2 pairs) 12/0.18 65.7 1.3 2 to 10 0.08 4 (2 pairs) 7/0.127 234 0.67 7.3 (note 3) 20276 composite 4-pair shielded cable (a-type) mr-ekcbl m-l mr-escbl m-l 20 30 0.3 12 (6 pairs) 7/0.18 63.6 1.2 8.2 ul20276awg#23 6 pair (black) 2 to 10 0.2 8 (4 pairs) 40/0.08 105 0.88 7.2 (note 3) a14b2339 4p 20 0.2 12 (6 pairs) 40/0.08 105 0.88 7.2 (note 3) a14b2343 6p encoder cable mr-ekcbl m-h mr-escbl m-h mr-enecbl m-h 30 to 50 0.2 14 (7 pairs) 40/0.08 105 0.88 8.0 (note 3) j14b0238 (0.2 7p) communication cable qc30r2 3 0.08 6 (3 pairs) 7/0.127 222 0.38 4.6 ul20276 awg#28 3pair (black) note 1. d is as shown below. d conductor insulation sheath 2. standard od. max. od is about 10 greater. 3. purchased from toa electric industry
13 - 31 13. options and auxiliary equipment 13.2.2 circuit breakers, fuses, magnetic contactors always use one circuit breaker and one magnetic contactor with one servo amplifier. when using a fuse instead of the circuit breaker, use the one having the specifications given in this section. fuse servo amplifier circuit breaker class current [a] voltage ac [v] magnetic contactor mr-e-10a-qw003 30a frame 5a 10 mr-e-20a-qw003 30a frame 5a 10 mr-e-40a-qw003 30a frame 10a 15 mr-e-70a-qw003 30a frame 15a k5 15 mr-e-100a-qw003 30a frame 15a 15 s-n10 mr-e-200a-qw003 30a frame 20a 15 250 s-n18 13.2.3 power factor improving reactors the input power factor is improved to be about 90 . for use with a 1-phase power supply, it may be slightly lower than 90 . servo amplifier mr-e- a-qw003 mr-e- ag-qw003 w w1 c rxsytz h 5(0.2) d1 installation screw d 5(0.2) [unit : mm] fr-bal l 1 l 2 l 3 mc r s t x y z (note) 1-plase 200 to 230vac nfb fr-bal l 1 l 2 l 3 mc r s t x y z nfb 3-phase 200 to 230vac servo amplifier mr-e- a-qw003 mr-e- ag-qw003 note. connect a 1-phase 200 to 230vac power supply to l 1 , l 2 and keep l 3 open. dimensions [mm ] servo amplifier model w w1 h d d1 c mounting screw size terminal screw size mass [kg (lb)] mr-e-10a-qw003 mr-e-20a-qw003 fr-bal-0.4k 135 120 115 59 45 0 2.5 7.5 m4 m3.5 2.0 (4.4) mr-e-40a-qw003 fr-bal-0.75k 135 120 115 69 57 0 2.5 7.5 m4 m3.5 2.8 (6.17) mr-e-70a-qw003 fr-bal-1.5k 160 145 140 71 55 0 2.5 7.5 m4 m3.5 3.7 (8.16) mr-e-100a-qw003 fr-bal-2.2k 160 145 140 91 75 0 2.5 7.5 m4 m3.5 5.6 (12.35) mr-e-200a-qw003 fr-bal-3.7k 220 200 192 90 70 0 2.5 10 m5 m4 8.5 (18.74)
13 - 32 13. options and auxiliary equipment 13.2.4 relays the following relays should be used with the interfaces. interface selection example input signals (interface di-1) signals to prevent defective contacts, use a relay for small signal (twin contacts). (ex.) omron: type g2a, my relay used for digital output signals (interface do-1) small relay with 12vdc or 24vdc of rating 40ma or less (ex.) omron: type my 13.2.5 surge absorbers a surge absorber is required for the electromagnetic brake. use the following surge absorber or equivalent. insulate the wiring as shown in the diagram. maximum rating permissible circuit voltage surge immunity energy immunity rated power maximum limit voltage static capacity (reference value) varistor voltage rating (range) v1ma ac[vma] dc[v] [a] [j] [w] [a] [v] [pf] [v] 140 180 (note) 500/time 5 0.4 25 360 300 220 (198 to 242) note. 1 time 8 20 s (example) erzv10d221 (matsushita electric industry) tnr-10v221k (nippon chemi-con) outline drawing [mm] (erz-c10dk221) 13.5 1 6 . 5 3 . 0 o r l e s s 3 0 . 0 o r m o r e crimping terminal for m4 screw vinyl tube 4.7 1.0 0.8
13 - 33 13. options and auxiliary equipment 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 general noise reduction techniques are required. also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. if peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures must be taken. the measures will vary slightly with the routes of noise transmission. (1) noise reduction techniques (a) general reduction techniques avoid laying power lines (input and output cables) and signal cables side by side or do not bundle them together. separate power lines from signal cables. use shielded, twisted pair cables for connection with the encoder and for control signal transmission, and connect the shield to the sd terminal. ground the servo amplifier, servo motor, etc. together at one point (refer to section 3.10). (b) reduction techniques for external noises that cause the servo amplifier to malfunction if there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required. provide surge absorbers on the noise sources to suppress noises. attach data line filters to the signal cables. ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings. although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended. (c) techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
13 - 34 13. options and auxiliary equipment noises produced by servo amplifier noises transmitted in the air noise radiated directly from servo amplifier magnetic induction noise static induction noise noises transmitted through electric channels noise radiated from the power supply cable noise radiated from servo motor cable noise transmitted through power supply cable noise sneaking from grounding cable due to leakage current routes 4) and 5) route 1) route 2) route 3) route 7) route 8) route 6) instrument receiver servo amplifier servo motor m 2) 2) 8) 1) 7) 7) 7) 5) 3) 4) 6) 3) sensor power supply sensor
13 - 35 13. options and auxiliary equipment noise transmission route suppression techniques 1) 2) 3) when measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. the following techniques are required. (1) provide maximum clearance between easily affected devices and the servo amplifier. (2) provide maximum clearance between easily affected signal cables and the i/o cables of the servo amplifier. (3) avoid laying the power lines (input cables of the servo amplifier) and signal cables side by side or bundling them together. (4) insert a line noise filter to the i/o cables or a radio noise filter on the input line. (5) use shielded wires for signal and power cables or put cables in separate metal conduits. 4) 5) 6) when the power lines and the signal cables are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. the following techniques are required. (1) provide maximum clearance between easily affected devices and the servo amplifier. (2) provide maximum clearance between easily affected signal cables and the i/o cables of the servo amplifier. (3) avoid laying the power lines (input cables of the servo amplifier) and signal cables side by side or bundling them together. (4) use shielded wires for signal and power cables or put the cables in separate metal conduits. 7) when the power supply of peripheral devices is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. the following techniques are required. (1) insert the radio noise filter (fr-bif) on the power cables (input cables) of the servo amplifier. (2) insert the line noise filter (fr-bsf01) on the power cables of the servo amplifier. 8) when the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit, leakage current may flow to malfunction the peripheral devices. if so, malfunction may be prevented by disconnecting the grounding cable of the peripheral device. (2) noise reduction products (a) data line filter noise can be prevented by installing a data line filter onto the encoder cable, etc. for example, the zcat3035-1330 of tdk and the esd-sr-25 of nec tokin make are available as data line filters. as a reference example, the impedance specifications of the zcat3035-1330 (tdk) are indicated below. this impedances are reference values and not guaranteed values. impedance [ ] 10 to 100mhz 100 to 500mhz 80 150 34 1 outline drawing (zcat3035-1330) [unit: mm] loop for fixing the cable band lot number product name tdk 39 1 13 1 30 1
13 - 36 13. options and auxiliary equipment (b) surge suppressor the recommended surge suppressor for installation to an ac relay, ac valve or the like near the servo amplifier is shown below. use this product or equivalent. relay this distance should be short (within 20cm). surge suppressor mc surge suppressor surge suppressor (ex.) 972a.2003 50411 (matsuo electric co.,ltd. 200vac rating) outline drawing [unit: mm] ([unit: in.]) rated voltage ac [v] c [ f] r [ ] test voltage ac [v] 200 0.5 50 (1w) across t-c 1000(1 to 5s) 4 18 1.5 blue vinyl cord red vinyl cord vinyl sheath 200 or more 200 or more 6 31 10 or less 10 or less 10 3 48 1.5 15 1 10 3 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 effect can be increased by directly connecting the cable to an earth plate as shown below. install the earth plate near the servo amplifier for the encoder cable. peel part of the cable sheath to expose the external conductor, and press that part against the earth plate with the cable clamp. if the cable is thin, clamp several cables in a bunch. the clamp comes as a set with the earth plate. strip the cable sheath of the clamped area. cutter cable cable clamp (a,b) cable earth plate external conductor clamp section diagram 4 0
13 - 37 13. options and auxiliary equipment outline drawing b 0.3 2- 5 hole installation hole earth plate clamp section diagram (note)m4 screw 1 1 3 6 c a 6 22 17.5 35 3 5 l or less 10 3 0 7 2 4 0 0 . 2 note. screw hole for grounding. connect it to the earth plate of the control box. 2 4 0 . 3 0 [unit: mm] type a b c accessory fittings clamp fitting l aersban-dset 100 86 30 clamp a: 2pcs. a 70 aersban-eset 70 56 clamp b: 1pc. b 45
13 - 38 13. options and auxiliary equipment (d) line noise filter (fr-bsf01) this filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5mhz to 5mhz band. connection diagram outline drawing [unit: mm] use the line noise filters for wires of the main power supply (l 1 l 2 l 3 ) and of the motor power supply (u v w). pass each of the 3-phase wires through the line noise filter an equal number of times in the same direction. for the main power supply, the effect of the filter rises as the number of passes increases, but generally four passes would be appropriate. for the motor power supply, passes must be four times or less. do not pass the grounding (earth) wire through the filter, or the effect of the filter will drop. wind the wires by passing through the filter to satisfy the required number of passes as shown in example 1. if the wires are too thick to wind, use two or more filters to have the required number of passes as shown in example 2. place the line noise filters as close to the servo amplifier as possible for their best performance. example 2 two filters are used (total number of turns: 4) power supply servo amplifier line noise filter nfb l 3 l 1 l 2 example 1 (number of turns: 4) power supply nfb l 1 l 2 l 3 servo amplifier line noise filter mc mc fr-bsf01 4 . 5 approx. 110 95 0.5 a p p r o x . 2 2 . 5 a p p r o x . 6 5 approx. 65 33 2- 5 1 1 . 2 5 0 . 5 (e) radio noise filter (fr-bif)...for the input side only this filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10mhz and lower radio frequency bands. the fr-bif is designed for the input side only. connection diagram outline drawing [unit: mm] make the connection cables as short as possible. grounding is always required. when using the fr-bif with a single-phase power supply, always insulate the wires that are not used for wiring. servo amplifie r nfb l 3 l 2 l 1 mc power supply radio noise filter fr-bif leakage current: 4ma 29 58 4 2 4 red blue white green 44 29 7 hole a b o u t 3 0 0 5
13 - 39 13. options and auxiliary equipment (f) varistors for input power supply (recommended) varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. when using a varistor, connect it between each phase of the input power supply of the equipment. for varistors, the tnd20v-431k and tnd20v-471k, manufactured by nippon chemi-con, are recommended. for detailed specification and usage of the varistors, refer to the manufacturer catalog. maximum rating permissible circuit voltage surge current immunity energy immunity rated pulse power maximum limit voltage static capacity (reference value) varistor voltage rating (range) v1ma power supply voltage varistor ac [v rms ] dc [v] 8/20 s [a] 2ms [j] [w] [a] [v] [pf] [v] 100v class tnd20v-431k 275 350 10000/1 time 195 710 1300 430(387 to 473) 200v class tnd20v-471k 300 385 7000/2 time 215 1.0 100 775 1200 470(423 to 517) [unit: mm] model d max. h max. t max. e 1.0 (note) l min. d 0.05 w 1.0 tnd20v-431k 6.4 3.3 tnd20v-471k 21.5 24.5 6.6 3.5 20 0.8 10.0 note. for special purpose items for lead length (l), contact the manufacturer. d w e h d l t
13 - 40 13. options and auxiliary equipment 13.2.7 leakage current breaker (1) selection method high-frequency chopper currents controlled by pulse width modulation flow in the ac servo circuits. leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. select a leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely. make the input and output cables as short as possible, and also make the grounding cable as long as possible (about 30cm) to minimize leakage currents. rated sensitivity current 10 {ig1 ign iga k (ig2 igm)} [ma]...........(13.1) k: constant considering the harmonic contents leakage current breaker type mitsubishi products k models provided with harmonic and surge reduction techniques nv-sp nv-sw nv-cp nv-cw nv-l 1 general models bv-c1 nfb nv-l 3 m servo amplifier noise filter 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) iga: leakage current of the servo amplifier (found from table 13.4.) igm: leakage current of the servo motor (found from table 13.3.) table 13.3 servo motor's leakage current example (igm) table 13.4 servo amplifier's leakage current example (iga) servo motor output [kw] leakage current [ma] servo amplifier capacity [kw] leakage current [ma] 0.1 to 1.0 0.1 0.1 to 0.6 0.1 1.0 to 2.2 0.2 0.7 to 2.0 0.15 table 13.5 leakage circuit breaker selection example servo amplifier rated sensitivity current of leakage circuit breaker [ma] 120 100 80 60 40 20 0 23.5 5.5 814223880150 30 60 100 fig. 13.1 leakage current example (ig1, ig2) for cv cable run in metal condui t cable size[mm 2 ] [ma] l e a k a g e c u r r e n t mr-e-10a-qw003 to mr-e-200a-qw003 15
13 - 41 13. options and auxiliary equipment (2) selection example indicated below is an example of selecting a leakage current breaker under the following conditions. m nv ig1 iga ig2 igm 2mm 2 5m 2mm 2 5m servo amplifier mr-e-40a-qw003 servo motor hf-ke43w1-s100 use a leakage current breaker generally available. find the terms of equation (13.1) from the diagram. ig1 20 1000 5 0.1 [ma] ig2 20 1000 5 0.1 [ma] ign 0 (not used) iga 0.1 [ma] igm 0.1 [ma] insert these values in equation (13.1). ig 10 {0.1 0 0.1 1 (0.1 0.1)} 4.0 [ma] according to the result of calculation, use a leakage current breaker having the rated sensitivity current (ig) of 4.0 [ma] or more. a leakage current breaker having ig of 15 [ma] is used with the nv- sp/sw/cp/cw/hw series.
13 - 42 13. options and auxiliary equipment 13.2.8 emc filter for compliance with the emc directive of the en standard, it is recommended to use the following filter. some emc filters are large in leakage current. (1) combination with the servo amplifier recommended filter servo amplifier model leakage current [ma] mass [kg]([lb]) mr-e-10a-qw003 to mr-e-100a-qw003 sf1252 38 0.75 (1.65) mr-e-200a-qw003 sf1253 57 1.37 (1.65) (2) connection example nfb l 1 l 2 l 3 l 1 l 2 l 3 line load emc filter servo amplifier (note 1) power supply (note 2) note 1. for 1-phase 230vac power supply, connect the power supply to l 1 ,l 2 and leave l 3 open. 2. connect when the power supply has earth. l 1 l 2 l 3 mc (3) outline drawing 23.0 label line load 168.0 l1' l2' l3' l1 l2 l3 149.5 line (input side) load (output side) 140.0 156.0 16.0 42.0 8.5 sf1252 label line load 168.0 l1' l2' l3' l1 l2 l3 209.5 line (input side) load (output side) 140.0 156.0 49.0 8.5 sf1253 [unit: mm] 6.0 6.0
14 - 1 14. servo motor 14. servo motor 14.1 compliance with the overseas standards 14.1.1 compliance with ec directives use the servo motor compatible with the en standard. unless otherwise specified, the handling, performance, specifications and others of the en standard- compatible models are the same as those of the standard models. to comply with the en standard, also observe the following items strictly. 14.1.2 conformance with ul/c-ul standard use the ul/c-ul standard-compliant model of servo motor. unless otherwise specified, the handling, performance, specifications, etc. of the ul/c-ul standard-compliant models are the same as those of the standard models. strictly observe the following items to conform to the ul/c-ul standard. the flange sizes in this table assume that the flanges are made of aluminum. the rated torque of the servo motor indicates the continuous permissible torque value that can be generated when it is mounted on the flange specified in the following table and used in the environment of 40 (104 ) ambient temperature. servo motor flange size hf-ke w1-s100 hf-se jw1-s100 250 250 6 13 23 250 250 12 43 52 to 152 300 300 12 73 300 300 20 202
14 - 2 14. servo motor 14.2 introduction 14.2.1 features of servo motor the following table indicates the main features of the servo motor. the items marked are supported as standard. for detailed specifications, refer to the chapter of the servo motor series. servo motor series item hf-ke w1-s100 hf-se jw1-s100 feature low inertia small capacity medium inertia/medium capacity 2000r/min rated speed 3000r/min encoder resolution [pulse/rev] 131072 131072 rated output [kw] 0.1 to 0.75 0.5 to 2.0 one-phase 230vac (note 4) power supply voltage of compatible servo amplifier (note 1) three-phase 200vac to 230vac electromagnetic brake (note 2) (note 2) special shaft (note 3) (note 3) en standard compliance with overseas standards ul/c-ul standard protection type ip55 (note 4, 5) ip65 note 1. some power supply voltages may not be usable depending on the servo amplifier capacity. for the power supply voltage range, refer to section 1.3. 2. compatible products are available. for details, refer to section 14.6.3 and 14.7.3. 3. compatible products are available. for details, refer to section 14.6.4 and 14.7.4. 4. except for the shaft-through portion. 5. only hf-se52jw1-s100 corresponds. 14.2.2 rating plate output 100w iec60034-1 '03 hf-ke13w1-s100 ac servo motor input 3ac 96v 0.8a 3000r/min ip55ci.b 0.5kg ser.no. h14425001 034 model input power rated output rated speed, protection structure, insulation class, mass serial number
14 - 3 14. servo motor 14.2.3 parts identification (1) hf-ke w1-s100 for full information of the cable connector, refer to section 13.1.2. servo motor shaft encoder encode cable power supply connector (note) note. the servo motor with electromagnetic brake has the electromagnetic brake connector separately. (2) hf-se jw1-s100 power supply connector (note) power supply (u, v, w) earth servo motor shaft encoder encoder connecto r note. the servo motor with electromagnetic brake has the electromagnetic brake connector separately.
14 - 4 14. servo motor 14.2.4 electromagnetic brake characteristics caution the electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. do not use it for normal braking (including braking at servo lock). the brake has a time lag. use the brake so that servo motor control is started after the brake has completely opened. configure the electromagnetic brake operating circuit as a double circuit so that it will also be operated by an external emergency stop (emg). for details of the circuit configuration and timing chart, refer to section 3.5 and 3.7. the servo motor with electromagnetic brake can be used to prevent a drop in vertical lift applications or to ensure double safety at an emergency stop, for example. when performing servo motor operation, supply power to the electromagnetic brake to release the brake. switching power off makes the brake effective. (1) electromagnetic brake power supply prepare the following power supply for use with the electromagnetic brake only. the electromagnetic brake terminals (b1, b2) have no polarity. var b1 b2 24vdc power supply for electromagnetic brake switch or b1 b2 switch var 24vdc power supply for electromagnetic brake electromagnetic electromagnetic ra ra the surge absorber (var) must be installed across b1-b2. for the selection of the surge absorber, refer to section 13.2.5. (2) sound generation though the brake lining may rattle during operation, it poses no functional problem. if braking sound occurs, it may be improved by setting the machine resonance suppression filter or adaptive vibration suppression control in the servo amplifier parameters. for details, refer to section 8.2 and 8.3. (3) others a leakage magnetic flux will occur at the shaft end of the servo motor equipped with electromagnetic brake. note that chips, screws and other magnetic substances are attracted.
14 - 5 14. servo motor 14.2.5 servo motor shaft shapes in addition to the straight shaft, the keyway shaft and d cut shaft are available as the servo motor shafts. the keyway shaft and d cut shaft cannot be used in frequent start/stop applications. since we cannot warrant the servo motor against fracture and similar accidents attributable to a loose key, use a friction coupling, etc. when coupling the shaft with a machine. the shaft shape of the standard servo motor changes depending on the series and capacity. refer to section 14.6.4 and 14.7.4. shaft section view shaft section view keyway shaft (with key) keyway shaft (without key) shaft section view shaft section view d cut shaft straight shaft
14 - 6 14. servo motor 14.3 installation caution stacking in excess of the limited number of products is not allowed. install the equipment to incombustibles. installing them directly or close to combustibles will led to a fire. install the equipment in a load-bearing place in accordance with this instruction manual. do not get on or put heavy load on the equipment to prevent injury. use the equipment within the specified environmental condition range. refer to the specifications of the servo motor series. do not subject the servo motor to drop impact or shock loads as they are precision equipment. do not install or operate a faulty servo amplifier. do not hold the cable, shaft or encoder to carry the servo motor. otherwise, a fault or injury 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 will come off during operation, leading to injury. when coupling the shaft end of the servo motor, do not subject the shaft end to impact, such as hammering. the encoder may become faulty. when coupling a load to the servo motor, do not use a rigid coupling. doing so can cause the shaft to break. balance the load to the extent possible. failure to do so can cause vibration during servo motor operation or damage the bearings and encoder. take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. do not subject the servo motor shaft to more than the permissible load. otherwise, the shaft may break, leading to injury. when the product has been stored for an extended period of time, consult mitsubishi.
14 - 7 14. servo motor 14.3.1 installation orientation (1) standard servo motor the following table indicates the installation orientation of the standard servo motor. servo motor series direction of installation remarks hf-ke w1-s100 hf-se jw1-s100 may be installed in any direction. for installation in the horizontal direction, it is recommended to set the connector section downward. when installing the servo motor horizontally, face the power cable and encoder cable down ward. when installing the servo motor vertically or obliquely, provide a connection and trap for the cable. cable trap (2) servo motor with electromagnetic brake the servo motor with electromagnetic brake can also be installed in the same orientation as the standard servo motor. when the servo motor with electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault. 14.3.2 load remove precautions point during assembling, the shaft end must not be hammered. doing so can cause the encoder to fail. (1) when mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end. to fit the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in. servo motor double-end stud nut washer pulley
14 - 8 14. servo motor (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 hard load and or 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 needed to mount a pulley on the shaft, please contact us. (6) the orientation of the encoder on the servo motor cannot be changed. (7) for installation of the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not become loose due to vibration. 14.3.3 permissible load for the shaft point do not use a rigid coupling as it may apply excessive bending load to the shaft, leading to shaft breakage. for the permissible shaft load specific to the servo motor, refer to the chapter of the servo motor series. (1) use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible radial load. (2) when using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load. (3) excess of the permissible load can cause the bearing life to reduce and the shaft to break. (4) the load indicated in this section is static load in a single direction and does not include eccentric load. make eccentric load as small as possible. not doing so can cause the servo motor to be damaged. 14.3.4 protection from oil and water avoid foreign matter, such as oil, from being inside the axis on the servo motor. when installing the servo motor, consider the items in this section.
14 - 9 14. servo motor (1) do not use the servo motor with its cable soaked in oil or water. (figure on the right) cover capillary phenomenon oil/water pool servo motor (2) when the servo motor is to be installed with the shaft end at top, provide measures so that it is not exposed to oil and water entering from the machine side, gear box, etc. gear lubricating oil servo motor (3) if the servo motor is exposed to oil such as coolant, the sealant, packing, cable and others may be affected depending on the oil type. (4) in the environment where the servo motor is exposed to oil mist, oil, water, grease and/or like, the servo motor of the standard specifications may not be usable. contact us. 14.3.5 cable the power supply cable, brake cable and encoder cables connected to the servo motor should be fixed to the servo motor to keep them from moving. otherwise, cable breaks may occur. in addition, do not modify the connectors, terminals and others at the ends of the cables.
14 - 10 14. servo motor 14.3.6 inspection warning before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. otherwise, an electric shock may occur. in addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. any person who is involved in inspection should be fully competent to do the work. otherwise, you may get an electric shock. for repair and parts replacement, contact your safes representative. point do not disassemble and/or repair the equipment on customer side. it is recommended to make the following checks periodically. (a) check the servo motor bearings, brake section, etc. for unusual noise. (b) check the cables and the like for scratches and cracks. especially when the junction cable is movable, perform periodic inspection according to operating conditions. (c) check the servo motor shaft and coupling for misalignment. (d) check the power supply connector and encoder connector tightening screws for looseness. 14.3.7 life the following parts must be changed periodically as listed below. if any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. for parts replacement, please contact your sales representative. part name guideline of life remarks bearings 20,000 to 30,000 hours encoder 20,000 to 30,000 hours the guideline of life field gives the reference time. if any fault is found before this time is reached, the part must be changed. 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.
14 - 11 14. servo motor 14.3.8 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 100 130 176 runout of flange surface to output shaft a) 0.05 0.06 0.08 runout of fitting od of flange surface b) 0.04 0.04 0.06 runout of output shaft end c) 0.02 0.02 0.03 reference diagram a) b) c)
14 - 12 14. servo motor 14.4 connectors used for servo motor wiring 14.4.1 selection of connectors use the connector configuration products given in the table as the connectors for connection with the servo motor. refer to section 14.4.2 for the compatible connector configuration products. (1) hf-ke w1-s100 wiring connector servo motor for encoder for power s upply for brake hf-ke(b)w1-s100 connector configuration a connector configuration b connector configuration c (2) hf-se jw1-s100 cable side connector servo motor for encoder for power supply for brake hf-se52(b)jw1-s100 to hf-se152(b)jw1-s100 connector configuration f hf-se202(b)jw1-s100 connector configuration d or connector configuration e connector configuration h connector configuration g 14.4.2 wiring connectors (connector configurations a b c) encoder connector brake connector power supply connector
14 - 13 14. servo motor these connectors can be used for the en standard and ul/c-ul standard. configuration product connector configuration connector (ip65) crimping tool servo motor encoder connector a connector: 1674320-1 (tyco electronics) for ground clip: 1596970-1 for rec. contact: 1596847 (tyco electronics) 1674339-1 (tyco electronics) configuration product connector configuration connector (ip55) crimping tool servo motor power supply connector b connector: jn4ft04sj1-r hood socket insulator bushing ground nut contact: st-tmh-s-c1b-100 (a534g) (jae) ct160-3-tmh5b (jae) jn4at04nj1 (jae) configuration product connector configuration connector (ip55) crimping tool servo motor brake connector c connector: jn4ft02sj1-r hood socket insulator bushing ground nut contact: st-tmh-s-c1b-100 (a534g) (jae) ct160-3-tmh5b (jae) jn4at02pj1 (jae)
14 - 14 14. servo motor 14.4.3 wiring connectors (connector configurations d, e, f, g, h) ms3102a20-29p encoder connector cm10-r2p ms3102a18-10p ms3102a22-22p brake connector power supply connector 1) plug 3) cable clamp cable 2) back shell 2) back shell cable 3) cable clamp 1) plug 1) plug (ddk) 3) cable clamp(ddk) connector configuration application type model 2) back shell (ddk) cable od [mm] model name servo motor encoder connector straight ce02-20bs-s-d d ip65/ip67 en standard angle d/ms-3106a20-29s (d190) ce-20ba-s-d 6.8 to 10 ce3057-12a-3-d d/ms3102a20-29p 1) plug 2) cable clamp cable 1) plug 2) cable clamp cable 2) cable clamp(ddk) connector configuration application 1) plug (ddk) cable od [mm] model name servo motor encoder connector straight d/ms3106b20-29s e general environment (note) angle d/ms3108b20-29s 15.9 (bushing id) d/ms3057-12a d/ms3102a20-29p note. not compliant with the en standard.
14 - 15 14. servo motor 1) plug 2) cable clamp cable 1) plug 2)cable clamp cable 1) plug (ddk) 2) cable clamp (ddk) connector configuration application type model name cable od [mm] (reference) model name servo motor power supply connector 8.5 to 11 ce3057-10a-2-d straight ce05-6a18-10sd-d-bss applicable wire size: awg14 to 12 10.5 to 14.1 ce3057-10a-1-d 8.5 to 11 ce3057-10a-2-d ip65/ip67 en standard compliant angle ce05-8a18-10sd-d-bas applicable wire size: awg14 to 12 10.5 to 14.1 ce3057-10a-1-d straight d/ms3106b18-10s applicable wire size: awg14 to 12 14.3 (bushing id) d/ms3057-10a f general environment (note) angle d/ms3108b18-10s applicable wire size: awg14 to 12 14.3 (bushing id) d/ms3057-10a d/ms3102a18-10p note. not compliant with the en standard. straight plug plug (ddk) connector configuration application type straight plug socket contact contact shape cable od [mm] (reference) servo motor brake connector cm10-sp2s-s cm10-#22sc(s2)-100 4.0 to 6.0 cm10-sp2s-m cm10-#22sc(s2)-100 6.0 to 9.0 cm10-sp2s-l cm10-#22sc(s2)-100 soldering type applicable wire size: awg16 or less 9.0 to 11.6 cm10-sp2s-s cm10-#22sc(c3)-100 4.0 to 6.0 cm10-sp2s-m cm10-#22sc(c3)-100 6.0 to 9.0 g ip65 ip67 straight cm10-sp2s-l cm10-#22sc(c3)-100 crimping type applicable wire size: awg20 to 16 connection tool (357j-50448) is necessary. 9.0 to 11.6 cm10-r2p
14 - 16 14. servo motor 1) plug 2) cable clamp cable 1) plug 2) cable clamp cable 1) plug (ddk) 2) cable clamp (ddk) connector configuration application type model name cable od [mm] (reference) model name servo motor power supply connector 9.5 to 13 cd3057-12a-2-d straight ce05-6a22-22sd-d-bss applicable wire size: awg12 to 8 12.5 to 16 cd3057-12a-1-d 9.5 to 13 cd3057-12a-2-d ip65/ip67 en standard compliant angle ce05-8a22-22sd-d-bas applicable wire size: awg12 to 8 12.5 to 16 cd3057-12a-1-d straight d/ms3106b22-22s applicable wire size: awg12 to 8 15.9 (bushing id) d/ms3057-12a h general environment (note) angle d/ms3108b22-22s applicable wire size: awg12 to 8 15.9 (bushing id) d/ms3057-12a d/ms3102a22-22p note. not compliant with the en standard.
14 - 17 14. servo motor 14.5 connector outline drawings the connector outline drawings for wiring the servo motor are shown below. (1) tyco electronics model housing connector pin crimping tool : 1-172161-9 : 170359-1 : 755330-1 14 23.7 1 6 4.2 1 4 4 . 2 [unit: mm] 170363-1 (loose piece) (2) molex [unit: mm] model number of poles a b 5509-04p-210 4 4.2 9.6 5559-06p-210 6 8.4 13.8 terminal: 5558pbt3l hand tool: 57022-5300 (2) 1 1 3 4 3 2 1 85 4.2 a b 4.2 2.7 circuit number 5559 11.6 4.6 13 3.4 23.9 11.9 2.3 1.4 5 1 1 2.5 9.6 (pitch) pole count-based layout diagram 4 poles 6 poles
14 - 18 14. servo motor (3) ddk [unit: mm] model a j l q v w y d/ms3106b18-10s 1 1/8-18unef 18.26 52.37 34.31 1-20unef 9.53 42 d/ms3106b20-29s 1 1/4-18unef 18.26 55.57 37.28 1 3/16-18unef 9.53 47 d/ms3106b22-22s 1 3/8-18unef 18.26 56.57 40.48 1 3/16-18unef 9.53 50 w or more l or less j a v y o r l e s s q [unit: mm] model a j l q r u v w d/ms3108b18-10s 1 1/8-18unef 18.26 68.27 34.13 20.5 30.2 1-20unef 9.53 d/ms3108b20-29s 1 1/4-18unef 18.26 76.98 37.28 22.5 33.3 1 3/16-18unef 9.53 d/ms3108b22-22s 1 3/8-18unef 18.26 76.98 40.48 24.1 33.3 1 3/16-18unef 9.53 w o r m o r e l or less j q a v u r
14 - 19 14. servo motor [unit: mm] w a 7.85 c 0 . 8 or more b 0 0 . 3 8 d or less model name a b c d w ce05-6a18-10sd-d-bss 1 1/8-18unef-2b 34.13 32.1 57 1-20unef-2a ce05-6a22-22sd-d-bss 1 3/8-18unef-2b 40.48 38.3 61 1 3/16-18unef-2a [unit: mm] w a d or less r 0 . 7 u 0 . 7 y o r m o r e ( s ) 1 b 0 0 . 3 8 model name a b d w r u (s) y ce05-8a18-10sd-d-bas 1 1/8-18unef-2b 34.13 69.5 1-20unef-2a 13.2 30.2 43.4 7.5 ce05-8a22-22sd-d-bas 1 3/8-18unef-2b 40.48 75.5 1 3/16-18unef-2a 16.3 33.3 49.6 7.5
14 - 20 14. servo motor [unit: mm] gasket h or less d c e a j g b model a b c d e g j d/ms3106a20-29s(d190) 1 1/4-18unef-2b 37.28 (1.47) 34.11 (1.34) 1 1/8-18unef-2a 12.16 (0.48) 26.8 (1.06) 18.26 (0.72) contact size #16 #12 #8 #4 #0 h 8 or less 8 or less 10 or less 13 or less 13 or less cm10-sp2s-s/m/l [unit: mm] 2 1 19 51.4 for cm10-sp2s-s/m/l 18.9 o r less 35 o ring 3 5 3 3 . 3 4 8 . 3 1 5 1 7 . 8 10.9 1 1/8-18unef-2b 1 1/8-18unef-2b 1 3/16-18unef-2a 1 3/16-18unef-2a 7.85 or more effective thread length cl cl 31.6 (spanner fitting) ce-20ba-s 50.5 or less o ring 3 6 39.6 or less 7 . 5 o r m o r e ce02-20bs-s-d [unit: mm] [unit: mm]
14 - 21 14. servo motor [unit: mm] 1.6 v e (bushing id) d (cable clamp id) f (movable range) b 0 . 7 a 0.7 g 0 . 7 effective thread length c model name shell size a b c d e f g v bushing d/ms3057-10a 18 23.8 30.1 10.3 15.9 14.3 3.2 31.7 1-20unef an3420-10 d/ms3057-12a 20.22 23.8 35.0 10.3 19.0 15.9 4.0 37.3 1 3/16-18unef-2a an3420-12 [unit: mm] effective thread length c a 0.7 1.6 (0.063) v thread b 0 . 7 g 0 . 7 e (cable clamp id) h (movable range on one side) (d) (bushing id) f model name shell size a b c d e f g h v bushing cable range ce3057- 10a-1-d 14.1 ce3420- 10-1 10.5 to 14.1 ce3057- 10a-2-d 18 23.8 30.1 10.3 41.3 15.9 11.0 31.7 3.2 1-20unef- 2b ce3420- 10-2 8.5 to 11 ce3057- 12a-1-d 16.0 ce3420- 12-1 12.5 to 16 ce3057- 12a-2-d 22 23.8 35 10.3 41.3 19 13.0 37.3 4.0 1 3/16- 18unef-2b ce3420- 12-2 9.5 to 13 ce3057- 12a-3-d 20 23.8 35 10.3 41.3 19 10.0 37.3 4.0 1 3/16- 18unef-2b ce3420- 12-3 6.8 to 10
14 - 22 14. servo motor 14.6 hf-ke w1-s100 this chapter provides information on the servo motor specifications and characteristics. when using the hf-ke w1-s100 servo motor, always read the safety instructions in the beginning of this manual and section 14.1 to 14.4, in addition to this section. 14.6.1 model name make up symbol none (note 1) k (note 1) d shaft shape hf-ke w1-s100 (note 2) with keyway standard (straight shaft) d-cut shaft 13 to 73 23 to 73 13 note 1. the special shaft applies to the standard servo motor and servo motor with electromagnetic brake. 2. with key. hf-ke 3 w1- s100 mr-e super servo motor encoder resolution 131072 [pulse/rev] shaft type (special shaft) electromagnetic brake rated speed 3000 [r/min] electromagnetic brake without with rated output rated output [w] 100 200 400 750 symbol none b symbol 1 2 3 4 series name appearance
14 - 23 14. servo motor 14.6.2 standard specifications (1) standard specifications hf-ke w1-s100 (low inertia small capacity) servo motor item 13 23 43 73 applicable servo amplifier/drive unit mr-e- a-qw003 mr-e- ag-qw003 10 20 40 70 rated output [kw] 0.1 0.2 0.4 0.75 [n m] 0.32 0.64 1.3 2.4 continuous running duty (note 1) rated torque [oz in] 45.32 90.63 184.10 339.87 rated speed (note 1) [r/min] 3000 maximum speed [r/min] 4500 instantaneous permissible speed [r/min] 5175 [n m] 0.95 1.9 3.8 7.2 maximum torque [oz in] 134.53 269.06 538.13 1019.61 power rate at continuous rated torque [kw/s] 11.5 16.9 38.6 39.9 j [ 10 -4 kg m 2 ] 0.088 0.24 0.42 1.43 inertia moment (note 3) wk 2 [oz in 2 ] 0.48 1.31 2.30 7.82 recommended ratio of load inertia moment to servo motor shaft inertia moment (note 2) 15 times or less servo amplifier's built-in regenerative resistor (note 4) (note 4) 249 140 mr-rb032 (30w) (note 4) (note 4) 747 210 mr-rb12 (100w) (note 4) 2490 700 regenerative brake duty [times/min] mr-rb32 (300w) 2100 power supply capacity refer to section 12.2. rated current [a] 0.8 1.4 2.7 5.2 maximum current [a] 2.4 4.2 8.1 15.6 speed/position detector incremental encoder (resolution per servo motor 1 rotation: 131072 pulse/rev) accessory insulation class class b structure totally - enclosed, self-cooled (protection type: ip55 (note 5) [ ] 0 to 40 (non-freezing) during operation [ ] 32 to 104 (non-freezing) [ ] 15 to 70 (non-freezing) ambient temperature in storage [ ] 5 to 158 (non-freezing) during operation 80 rh or less (non-condensing) ambient humidity in storage 90 rh or less (non-condensing) ambience indoors (no direct sunlight) free from corrosive gas, flammable gas, oil mist, dust and dirt. altitude max. 1000m above sea level environmental conditions (note 6) vibration (note 7) [m/s 2 ] x, y: 49 vibration rank (note 8) v-10 l [mm] 25 30 40 [n] 88 245 392 radial [lb] 20 55 88 [n] 59 98 147 permissible load for the shaft (note 9) thrust [lb] 13 22 33 [kg] 0.56 0.94 1.5 2.9 mass (note 3) [lb] 1.24 2.07 3.31 6.39 note 1. the rated output and rated speed of the servo motor assume that the rated power supply voltage and frequency are as ind icated in section 1.3. 2. if the load inertia moment ratio exceeds the indicated value, please consult us. 3. refer to the outline dimension drawing for the servo motors with electromagnetic brake. 4. when the effective torque is within the rated torque range, there are no restrictions on the regenerative brake duty. note t hat the recommended load inertia moment ratio is 15 times or less. 5. except for the shaft-through portion.
14 - 24 14. servo motor 6. in the environment where the servo motor is exposed to oil mist, oil and/or water, the servo motor of the standard specifica tions may not be usable. contact us. 7. the vibration direction is as shown in the figure. the value is the one at the part that indicates the maximum value (normal ly the opposite-to-load side bracket). when the servo motor stops, fretting is likely to occur at the bearing. therefore, suppress the vibration to about half of the permissible value. vibration y x servo motor speed[r/min] vibration amplitude (both amplitudes) [ m] 0 1000 2000 3000 4000 10 100 1000 4500 8. v-10 indicates that the amplitude of a single servo motor is 10 m or less. the following figure shows the servo motor installation position for measurement and the measuring position. top bottom servo motor measuring position 9. for the symbols in the table, refer to the following diagram: do not subject the shaft to load greater than this value. the values in the table assume that the loads work singly. l radial load thrust load l: distance from flange mounting surface to load center (2) torque characteristics torque[n m] short-duration speed[r/min] 0 0.2 0.4 0.6 0.8 1 0 1000 2000 3000 4000 continuous running region hf-ke13w1-s100 0 0.5 1 1.5 2 2.5 0 1000 2000 3000 4000 short-duration continuous running region torque[n m] speed[r/min] hf-ke23w1-s100 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 0 1000 2000 3000 4000 speed[r/min] continuous running region torque[n m] short-duration hf-ke43w1-s100 0 1 2 3 4 5 6 7 8 0 1000 2000 3000 4000 torque[n m] short-duration speed[r/min] continuous running region hf-ke73w1-s100
14 - 25 14. servo motor 14.6.3 electromagnetic brake characteristics caution the electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. do not use it for normal braking (including braking at servo lock). the characteristics of the electromagnetic brake provided for the servo motor with electromagnetic brake are indicated below. hf-ke bw1-s100 servo motor item 13 23 43 73 type (note 1) spring-loaded safety brake rated voltage (note 4) 24v 0 10% dc capacity [w] at 20 (68 ) 6.3 7.9 10 [n m] 0.32 1.3 2.4 static friction torque [oz in] 45.3 184.2 340 release delay time (note 2) [s] 0.03 0.03 0.04 braking delay time (note 2) [s] dc off 0.01 0.02 0.02 per braking [j] 5.6 22 64 permissible braking work per hour [j] 56 220 640 brake looseness at servo motor shaft (note 5) [degrees] 2.5 1.2 0.9 number of braking cycles [times] 20000 20000 20000 brake life (note 3) work per braking [j] 5.6 22 64 note 1. there is no manual release mechanism. when it is necessary to hand-turn the servo motor shaft for machine centering, et c., use a separate 24vdc power supply to release the brake electrically. 2. the value for initial on gap at 20 (68 ). 3. the brake gap will increase as the brake lining wears, but t he gap is not adjustable. the brak e life indicated is the number of braking cycles after which adjustment will be required. 4. always prepare a power supply exclusively used for the electromagnetic brake. 5. the above values are typical initial values and not guaranteed values.
14 - 26 14. servo motor 14.6.4 servo motors with special shafts the servo motors with special shafts indicated by the symbols (k d) in the table are available. k and d are the symbols attached to the servo motor model names. shaft shape servo motor keyway shaft (with key) d cut shaft hf-ke13w1-s100 d hf-ke23w1-s100 to hf-ke73w1-s100 k (1) keyway shaft (with key) variable dimension table [unit: mm] variable dimensions servo motor s r q w qk ql u t y hf-ke23kw1-s100 hf-ke43kw1-s100 14h6 30 27 5 20 3 3 5 m4 depth 15 hf-ke73kw1-s100 19h6 40 37 6 25 5 3.5 6 m5 depth 20 q a a qk r t w u s ql y section a-a (2) d cut shaft [unit: mm] 25 21.5 20.5 1 8h6
14 - 27 14. servo motor 14.6.5 outline dimension drawings the dimensions without tolerances are reference dimensions. (1) standard (without electromagnetic brake, without reduction gear) model output [w] inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg]([ib]) hf-ke13w1-s100 100 0.088 (0.48) 0.56 (1.24) [unit: mm] 40 4 5 6.4 27.5 4 6 25 2.5 27.4 4.9 9.5 11.7 11.7 13.9 20.7 20.5 caution plate 13.7 21.5 5 7 19.2 10.1 21.5 9 40.5 82.4 power supply connector encoder connector encoder connector power supply connector 19.2 11.7 11.7 9.5 21.5 bc30561a 2- 4.5 mounting hole use hexagon socket head cap screw bottom bottom top top caution plate for high temperature motor plate (opposite side) bottom top motor plate opposite-to-load side bottom top 3 4 1 2 power supply connector pin connection list 2 3 4 pin no. 1 u v w application (earth) tuv plate
14 - 28 14. servo motor model output [w] inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-ke23w1-s100 200 0.24 (1.31) 0.94 (2.07) [unit: mm] caution plate for high temperature 30 60 4 5 11.8 7 0 5.9 27.8 13.9 28.4 13.7 10 9.5 9 19.2 11.7 73 10.1 7 76.6 39.3 caution plate encoder connector power supply connector bc30560a power supply connector 9.5 encoder connector 21.5 11.8 11.7 19.2 1 2 3 4 power supply connector pin connection list opposite-to-load side motor plate bottom top bottom top 4- 5.8 mounting hole use hexagon socket head cap screw bottom bottom top top motor plate (opposite siede) 2 3 4 pin no. 1 u v w application (earth) tuv plate model output [w] inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-ke43w1-s100 400 0.42 (2.30) 1.5 (3.5) [unit: mm] 2 3 4 pin no. 1 u v w application (earth) 30 60 4 5 11.8 7 0 5.9 27.8 13.9 28.4 13.7 10 9.5 9 19.2 11.7 73 10.1 7 98.5 61.2 caution plate power supply connector encoder connector 1 2 3 4 power supply connector pin connection list 19.2 11.7 21.5 11.8 9.5 encoder connector bc30559a motor plate opposite-to-load side power supply connector 4- 5.8 mounting hole use hexagon socket head cap screw bottom bottom top top bottom top bottom top motor plate (opposite side) caution plate for high temperature tuv plate
14 - 29 14. servo motor model output [w] inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-ke73w1-s100 750 1.43 (7.82) 2.9 (6.39) [unit: mm] 2 3 4 pin no. 1 u v w application (earth) tuv plate caution plate power supply connector encoder connector encoder connector motor plate opposite-to-load side 4- 6.6 mounting hole use hexagon socket head cap screw top bottom top bottom bottom top bottom top motor plate (opposite side) caution plate for high temperature 113.8 40 3 80 9 0 4 5 12 72.3 11.8 9.5 27.4 27.8 14 8 11.5 11.7 13.7 7 7 9.9 19.2 19.2 11.7 21.4 11.8 9.5 power supply connector 1 2 3 4 bc30557a power supply connector pin connection list
14 - 30 14. servo motor (2) with electromagnetic brake model output [w] static friction torque [ n m] ([oz in]) inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-ke13bw1-s100 100 0.32 (45.32) 0.090 (0.49) 0.86 (1.90) [unit: mm] b1 2 pin no. 1 b2 application 2 3 4 pin no. 1 u v w application (earth) top encoder connector motor plate 2- 4.5 mounting hole use hexagon socket head cap screw bottom bottom top top bottom top motor plate (opposite side) caution plate for high temperature opposite-to-load side caution plate power supply connector brake connector pin connection list encoder connector power supply connector power supply connector pin connection list brake connector brake connector bottom 40 4 5 4 6 6.4 13.9 27.5 25 2.5 4.9 27.4 9 9.5 11.7 11.7 13.7 20.7 20.5 21.5 5 58.3 19.2 21.5 7 10.1 18.4 1 3 123.5 40.5 bc30652* 4 1 2 3 2 1 58.3 21.5 11.7 11.7 18.4 9.5 tuv plate
14 - 31 14. servo motor model output [w] static friction torque [ n m] ([oz in]) inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-ke23bw1-s100 200 1.3 (184.10) 0.31 (1.70) 1.6 (3.75) [unit: mm] opposite-to-load side 2 3 4 pin no. 1 u v w application (earth) b1 2 pin no. 1 b2 application 30 60 4 5 11.8 7 0 57.8 9.5 5.9 13.9 10 13.7 21.5 28.4 27.8 11.7 1 3 . 5 3 7 7 9 19.2 10.1 116.1 39.3 caution plate power supply connector brake connector bc30653* 1 2 3 4 1 2 18.3 11.8 11.7 9.5 power supply connector 57.8 encoder connector 21.5 brake connector power supply connector pin connection list brake connector pin connection list encoder connector bottom top bottom top motor plate caution plate for high temperature motor plate (opposite side) bottom top bottom top 4- 5.8 mounting hole use hexagon socket head cap screw tuv plate
14 - 32 14. servo motor model output [w] static friction torque [ n m] ([oz in]) inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-ke43bw1-s100 400 1.3 (184.10) 0.50 (2.73) 2.1 (4.85) [unit: mm] tuv plate 30 60 4 5 11.8 7 0 57.8 9.5 5.9 13.9 10 13.7 21.5 28.4 27.8 11.7 1 3 . 5 3 7 7 9 19.2 10.1 138 61.2 bc30654* 1 2 3 4 1 2 encoder connector brake connector 57.8 11.8 11.7 21.5 18.3 9.5 opposite-to-load side b1 2 pin no. 1 b2 application caution plate power supply connector brake connector power supply connector power supply connector pin connection list brake connector pin connection list encoder connector bottom top bottom top motor plate caution plate for high temperature motor plate (opposite side) bottom top bottom top 4- 5.8 mounting hole use hexagon socket head cap screw 2 3 4 pin no. 1 u v w application (earth)
14 - 33 14. servo motor model output [w] static friction torque [ n m] ([oz in]) inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-ke73bw1-s100 750 2.4 (340) 1.625 (8.91) 3.9 (8.82) [unit: mm] b1 2 pin no. 1 b2 application 80 157 8 3 4 5 9 0 40 14 12 27.8 27.4 11.5 13.7 11.8 11.7 7 9.5 72.3 65.5 7 7 19.2 21.4 brake connector power supply connector encoder connector brake connector pin connection list 1 3 4 2 1 2 encoder connector 9.5 11.8 21.4 11.7 65.5 18.4 power supply connector brake connector bc30655* motor plate bottom caution plate top bottom top motor plate (opposite side) top bottom top bottom opposite-to-load side 4- 6.6 mounting hole use hexagon socket head cap screw caution plate for high temperature power supply connector pin connection list 2 3 4 pin no. 1 u v w application (earth) tuv plate
14 - 34 14. servo motor 14.7 hf-se jw1-s100 this chapter provides information on the servo motor specifications and characteristics. when using the hf- se jw1-s100 servo motor, always read the safety instructions in the beginning of this manual and section 14.1 to 14.4, in addition to this section. 14.7.1 model name make up hf-se 2 series name symbol none (note 1) k shaft shape (note 2) with keyway standard (straight shaft) note 1. the special shaft applies to the standard servo motor and servo motor with electromagnetic brake. 2. without key. w1- s100 mr-e super servo motor encoder resolution 131072 [pulse/rev] shaft type (special shaft) electromagnetic brake rated speed 2000[r/min] electromagnetic brake without with rated output rated output [w] 500 1000 1500 2000 symbol none b symbol 5 10 15 20 appearance j oil seal
14 - 35 14. servo motor 14.7.2 standard specifications (1) standard specifications hf-se jw1-s100 (medium inertia medium capacity) servo motor item 52 102 152 202 applicable servo amplifier/drive unit mr-e- a-qw003 mr-e- ag-qw003 70 100 200 200 rated output [kw] 0.5 1.0 1.5 2.0 [n m] 2.39 4.77 7.16 9.55 continuous running duty (note 1) rated torque [oz in] 338.5 675.5 1014 1352 rated speed (note 1) [r/min] 2000 maximum speed [r/min] 3000 instantaneous permissible speed [r/min] 3450 [n m] 7.16 14.3 21.5 28.6 maximum torque [oz in] 1014 2025 3045 4050 power rate at continuous rated torque [kw/s] 9.34 19.2 28.8 23.8 j [ 10 -4 kg m 2 ] 6.1 11.9 17.8 38.3 inertia moment (note 3) wk 2 [oz in 2 ] 33.4 65.1 97.3 209 recommended ratio of load inertia moment to servo motor shaft inertia moment (note 2) 15 times or less servo amplifier's built-in regenerative resistor 120 62 152 71 mr-rb032 (30w) 180 93 mr-rb12 (100w) 600 310 mr-rb30 (300w) 456 213 mr-rb32 (300w) 1800 930 regenerative brake duty [times/min] mr-rb50 (500w) 760 355 power supply capacity refer to section 12.2. rated current [a] 2.9 5.3 8.0 10 maximum current [a] 8.7 15.9 24 30 speed/position detector incremental encoder (resolution: 131072pulse/rev) accessory oil seal insulation class class f structure totally - enclosed, self-cooled(protection type: ip65 (note 4)) [ ] 0 to 40 (non-freezing) during operation [ ] 32 to 104 (non-freezing) [ ] 15 to 70 (non-freezing) ambient temperature in storage [ ] 5 to 158 (non-freezing) during operation 80 rh or less (non-condensing) ambient humidity in storage 90 rh or less (non-condensing) ambience indoors (no direct sunlight) free from corrosive gas, flammable gas, oil mist, dust and dirt. altitude max. 1000m above sea level environmental conditions (note 4) vibration (note 5) [m/s 2 ] x, y: 24.5 x: 24.5 y: 49 vibration rank (note 6) v-10 l [mm] 55 79 [n] 980 2058 radial [lb] 220 463 [n] 490 980 permissible load for the shaft (note 7) thrust [lb] 110 220 [kg] 4.8 6.5 8.3 12 mass (note 3) [lb] 10.6 14.3 18.3 26.5 note 1. the rated output and rated speed of the servo motor assume that the rated power supply voltage and frequency are as ind icated in section 1.3. 2. if the load inertia moment ratio exceeds the indicated value, please consult us. 3. refer to the outline dimension drawing for the servo motor with electromagnetic brake.
14 - 36 14. servo motor 4. in the environment where the servo motor is exposed to oil mist, oil and/or water, the servo motor of the standard specifica tions may not be usable. contact us. 5. the vibration direction is as shown in the figure. the value is the one at the part that indicates the maximum value (normal ly the opposite-to-load side bracket). when the servo motor stops, fretting is likely to occur at the bearing. therefore, suppress the vibration to about half of the permissible value. vibration y x servo motor 0 100020003000 10 100 1000 speed[r/min] vibration amplitude (both amplitudes) [ m] 6. v-10 indicates that the amplitude of a single servo motor is 10 m or less. the following figure shows the servo motor installation position for measurement and the measuring position. servo motor measuring position top bottom 7. for the symbols in the table, refer to the following diagram: do not subject the shaft to load greater than this value. the values in the table assume that the loads work singly. l radial load thrust load l: distance from flange mounting surface to load center (2) torque characteristics hf-se52jw1-s100 0 torque[n m] 1000 2000 3000 short-duration running region rotational speed[r/min] continuous running region 0 2 4 6 8 hf-se102jw1-s100 0 1000 2000 3000 0 5 10 15 short-duration running region rotational speed[r/min] continuous running region torque[n m] hf-se152jw1-s100 0 1000 2000 3000 0 5 10 15 20 25 short-duration running region rotational speed[r/min] continuous running region torque[n m] hf-se202jw1-s100 0 1000 2000 3000 0 10 20 30 short-duration running region rotational speed[r/min] continuous running region torque[n m]
14 - 37 14. servo motor 14.7.3 electromagnetic brake characteristics caution the electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. do not use it for normal braking (including braking at servo lock). the characteristics of the electromagnetic brake provided for the servo motor with electromagnetic brake are indicated below. hf-se bjw1-s100 servo motor item 52 to 152 202 type (note 1) spring-loaded safety brake rated voltage (note 4) 24v 0 10% dc capacity [w] at 20 (68 ) 19 34 [n m] 8.3 44 static friction torque [oz in] 1175 6231 release delay time (note 2) [s] 0.04 0.1 braking delay time (note 2) [s] dc off 0.03 0.03 per braking [j] 400 4500 permissible braking work per hour [j] 4000 45000 brake looseness at servo motor shaft (note 5) [degrees] 0.2 to 0.6 0.2 to 0.6 number of braking cycles[times] 20000 20000 brake life (note 3) work per braking [j] 200 1000 note 1. there is no manual release mechanism. when it is necessary to hand-turn the servo motor shaft for machine centering, et c., use a separate 24vdc power supply to release the brake electrically. 2. the value for initial on gap at 20 (68 ). 3. the brake gap will increase as the brake lining wears, but t he gap is not adjustable. the brak e life indicated is the number of braking cycles after which adjustment will be required. 4. always prepare a power supply exclusively used for the electromagnetic brake. 5. the above values are typical initial values and not guaranteed values.
14 - 38 14. servo motor 14.7.4 servo motors with special shafts the servo motors with special shafts indicated by the symbol (k) in the table is available. k is the symbols attached to the servo motor model names. shaft shape servo motor keyway shaft (without key) hf-se52jw1-s100 to hf-se202jw1-s100 k variable dimension table [unit: mm] variable dimensions servo motor s r q w qk ql u r y hf-se52kjw1-s100 to hf-se152kjw1-s100 24h6 55 50 8 0 0.036 36 5 4 0.2 0 4 m8 depth 20 hc-se202kjw1-s100 35 0.010 0 79 75 10 0 0.036 55 5 5 0.2 0 5 m8 depth 20 ql a a qk q r w s u r y section a-a keyway shaft (without key)
14 - 39 14. servo motor 14.7.5 outline dimension drawings the values in yards/pounds are reference values. (1) standard (without electromagnetic brake, without reduction gear) model output [kw] inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-se52jw1-s100 0.5 6.1 (33.4) 4.8 (11.7) [unit: mm] bc30563a 57.8 130 55 3 50 39.7 58 13.5 bottom top 1 4 5 1 6 5 power supply connector motor plate (opposite side) caution plate tuv plate .. 4- 9 mounting hole use hexagon socket head cap screw. v u power supply connector layout b w c earth a d ms3102a18-10p motor plate 4 5 120 caution plate bottom top motor flange direction top bottom caution plate 20.9 bottom top top bottom 19.5 encoder connector ms3102a20-29p oil seal 12 logo plate top bottom model output [kw] inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-se102jw1-s100 1.0 11.9 (65.1) 6.5 (15.4) [unit: mm] bc30566a 1 4 5 motor plate (opposite side) 4- 9 mounting hole use hexagon socket head cap screw. power supply connector layout earth caution plate bottom top motor flange direction oil seal 79.8 130 55 3 12 50 39.7 58 13.5 1 6 5 v u b w c a d 4 5 142 20.9 bottom top power supply connector caution plate tuv plate .. ms3102a18-10p motor plate top bottom caution plate bottom top top bottom 19.5 encoder connector ms3102a20-29p logo plate top bottom
14 - 40 14. servo motor model output [kw] inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-se152jw1-s100 1.5 17.8 (97.3) 8.3 (19.4) [unit: mm] bc30565a earth power supply connector layout motor flange direction 4- 9 mounting hole use hexagon socket head cap screw. 101.8 130 55 3 12 50 39.7 58 13.5 1 4 5 1 6 5 v u b w c a d 4 5 164 20.9 19.5 bottom top power supply connector caution plate tuv plate .. ms3102a18-10p motor plate top bottom top bottom caution plate caution plate bottom top top bottom encoder connector ms3102a20-29p logo plate top bottom motor plate (opposite side) oil seal model output [kw] inertia moment j[ 10 4 kg m 2 ] ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-se202jw1-s100 2.0 38.3 (209.4) 12 (27.6) [unit: mm] 2 0 0 2 3 0 oil seal caution plate power supply connector layout motor plate (opposite side) motor flange direction tuv plate logo plate motor plate caution plate caution plate 145 79 75 3 18 40 81.5 176 24.8 79.8 140.9 82 bottom top bottom top bottom top bottom top 0 0.025 114.3 35 0.010 0 4 5 19.5 encoder connector ms3102a20-29p power supply connector ms3102a22-22p 4- 13.5mounting hole use hexagon socket head cap screw. earth w vu c b d a bottom top .. bc30564b
14 - 41 14. servo motor (2) with electromagnetic brake model output [kw] static friction torque [ n m] ([oz in]) inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-se52bjw1-s100 0.5 8.5 (1203.7) 8.3 (45.4) 6.7 (15.9) [unit: mm] 1 6 5 4- 9 mounting hole use hexagon socket head cap screw. 130 13.5 58 12 3 154.5 45 (opposite side) 55 50 u power supply connector layout earth 57.8 p o w e r s u p p l y c o n n e c t o r tuv plate .. caution plate bottom top 60.5 brake connector a b c d v w brake connector layout brake 29 motor plate 4 5 20.9 cm10-r2p ms3102a18-10p motor flange direction motor flange direction caution plate encoder connector ms3102a20-29p 19.5 bc30648* caution plate top top bottom bottom bottom top top bottom 1 4 5 motor plate bottom top logo plate oil seal model output [w] static friction torque [ n m] ([oz in]) inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-se102bjw1-s100 1.0 8.5 (1203.7) 14.0 (76.5) 8.5 (19.8) [unit: mm] bc30649* oil seal logo plate 4- 9 mounting hole use hexagon socket head cap screw. 130 1 6 5 1 4 5 13.5 58 12 3 176.5 45 55 50 u power supply connector layout earth 79.8 power supply connector tuv plate .. caution plate 60.5 brake connector a b c d v brake connector layout brake 29 motor plate 4 5 20.9 cm10-r2p ms3102a18-10p (opposite side) motor flange direction motor flange direction encoder connector ms3102a20-29p 19.5 caution plate caution plate motor plate w bottom top bottom top top top top bottom bottom bottom bottom top
14 - 42 14. servo motor model output [w] static friction torque [ n m] ([oz in]) inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-se152bjw1-s100 1.5 8.5 (1203.7) 20.0 (109.3) 10.3 (23.8) [unit: mm] 130 13.5 58 12 3 198.5 motor plate 45 (opposite side) 55 50 u power supply connector layout earth power supply connector tuv plate . . caution plate 60.5 brake connector a b cd v w brake connector layout brake 29 cm10-r2p ms3102a18-10p caution plate motor flange direction motor flange direction caution plate 19.5 encoder connector ms3102a20-29p bc30650* motor plate logo plate 4- 9 mounting hole use hexagon socket head cap screw. 1 4 5 1 6 5 4 5 bottom top top bottom top bottom bottom bottom top t o p bottom t o p 101.8 20.9 oil seal model output [w] static friction torque [ n m] ([oz in]) inertia moment j[ 10 4 kg m 2 ] (wk 2 [oz in 2 ]) mass [kg] ([ib]) hf-se202bjw1-s100 2.0 44 (6230.9) 47.9 (261.9) 18 (40.8) [unit: mm] 82 44 bottom top motor plate logo plate encoder connector ms3102a20-29p brake connector cm10-r2p brake connector layout brake w c b v u a d earth power supply connector layout motor plate (opposite side) motor flange direction motor flange direction 194.5 79 caution plate top bottom bottom top caution plate caution plate 68 18 75 3 47 19.5 176 2 3 0 2 0 0 4 5 top bottom top bottom bottom top 4- 13.5 mounting hole use hexagon socket head cap screw. bc30651* power supply connector ms3102a22-22p 24.8 79.8 oil seal tuv plate ..
15 - 1 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15. mr-e- ag-qw003 servo amplifier compatible with analog input point in this chapter, difference of the operation of mr-e- ag-qw003 from that of mr-e- a-qw003 is described. for description not given in this chapter, refer to chapters 1 through 14. 15.1. functions and configuration 15.1.1 introduction the analog input mr-e- ag-qw003 servo amplifier is based on the mr-e- a-qw003 servo amplifier with capability of speed control and torque control. (1) speed control mode an external 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 mode an external analog torque command (0 to 8vdc) or parameter-driven internal torque command is used to control the torque output by the servo motor. to prevent unexpected operation under no load, the speed limit function (external or internal setting) is also available for application to tension control and the like.
15 - 2 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.1.2 function block diagram the function block diagram of this servo is shown below. b2 b1 relay ra (note 3) (note 3) base amplifier voltage detection over- current protection detector dynamic brake current detector regenerative tr charge lamp control power supply electro- magnetic brake servo motor d c p regenerative option nfb (note 2) power supply mc l 1 l 2 l 3 cn1 cn3 rs-232c controller 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 m (note 1) (note 4) cooling fan rs-232c d/a (note 3) (note 3) (note 3) a/d analog (2 channels) (note 3) d i/o control servo on start failure, etc. diode stack 24vdc note 1. the built-in regenerative resistor is not provided for the mr-e-10ag-qw003/mr-e-20ag-qw003. 2. single-phase 230vac power supply can be used for mr-e-70ag-qw003 or servo amplifiers with smaller capacities. connect the power cables to l 1 and l 2 while leaving l 3 open. refer to section 15.1.3 for the power supply specification. 3. the control circuit connectors (cn1, cn2 and cn3) are safely isolated from main circuit terminals (l 1 , l 2 , l 3 , u, v, w, p, c and d). 4. servo amplifiers mr-e-200ag-qw003 have a cooling fan.
15 - 3 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.1.3 servo amplifier standard specifications servo amplifier mr-e- -qw003 item 10ag 20ag 40ag 70ag 100ag 200ag voltage/frequency 3-phase 200 to 230vac, 50/60hz or 1-phase 230vac, 50/60hz 3-phase 200 to 230vac, 50/60hz permissible voltage fluctuation 3-phase 200 to 230vac: 170 to 253vac, 50/60hz 1-phase 230vac: 207 to 253vac, 50/60hz 3-phase 170 to 253vac, 50/60hz permissible frequency fluctuation within 5 power supply capacity refer to section 12.2 power supply inrush current refer to section 12.5 control system sine-wave pwm control, current control system dynamic brake built-in protective functions overcurrent shut-o ff, rege nerative overvoltage s hut-off, ov erload shut-o ff (electronic thermal relay), encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection speed control range analog speed command 1: 2000, internal speed command 1: 5000 analog speed command input 0 to 10vdc/rated speed speed fluctuation ratio 0.01 or less (load fluctuation 0 to 100 ) 0 (power fluctuation 10 ) 0.2 or less (ambient temperature 25 10 (77 50 )), when using analog speed command speed control mode torque limit set by parameter setting or external analog input (0 to 10vdc/maximum torque) analog torque command input 0 to 8vdc/maximum torque (input impedance 10 to 12k ) torque control mode speed limit set by parameter setting or external analog input (0 to 10vdc/rated speed) structure self-cooled, open (ip00) force- cooling, open (ip00) [ ] 0 to 55 (non-freezing) operation [ ] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) ambient temperature storage [ ] 4 to 149 (non-freezing) operation ambient humidity storage 90 rh or less (non-condensing) ambient indoors (no direct sunlight) free from corrosive gas, flammable gas, oil mist, dust and dirt altitude max. 1000m above sea level environment vibration 5.9 [m/s 2 ] or less [kg] 0.7 0.7 1.1 1.7 1.7 2.0 mass [lb] 1.54 1.54 2.43 3.75 3.75 4.41
15 - 4 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.1.4 model code definition ag qw003 mr-e super servo amplifier (source i/o interface) rated output series name analog input interface mr-e-40ag-qw003 or less rating plate rating plate rating plate mr-e-70ag-qw003, MR-E-100AG-QW003 mr-e-200ag-qw003 mr-e - - symbol rated output [w] 10 20 40 100 200 400 symbol rated output [w] 70 100 200 750 1000 2000 15.1.5 parts identification (1) MR-E-100AG-QW003 or less mode cn3 set cn1 cn2 cnp2 cnp1 l3l2l1 d c p w v u charge mitsubishi mr- used to set data. used to change the display or data in each mode. used to change the mode. mode up down set fixed part (mr-e-10ag-qw003 to mr-e-40ag-qw003: 2 places mr-e-70ag-qw003 MR-E-100AG-QW003: 3 places) reference name/application display the 5-digit, seven-segment led shows the servo status and alarm number. operation section used to perform status display, diagnostic, alarm and parameter setting operations. communication connector (cn3) used to connect a command device (rs-232c) and output analog monitor data. chapter 6 chapter 6 section 3.3 section 13.1.2 chapter 14 section 3.3 i/o signal connector (cn1) used to connect digital i/o signals. encoder connector (cn2) connector for connection of the servo motor encoder. charge lamp lit to indicate that the main circuit is charged. while this lamp is lit, do not reconnect the cables. servo motor power connector (cnp2) used to connect the servo motor. power supply/regenerative connector (cnp1) used to connect the input power supply and regenerative option. protective earth (pe) terminal ( ) ground terminal. section 3.3 section1 3.1.2 section 3.7 section 11.1 section 3.7 section 11.1 section 13.1.1 section 3.10 section 11.1
15 - 5 15. mr-e- ag-qw003 servo amplifier compatible with analog input (2) mr-e-200ag-qw003 used to set data. used to change the display or data in each mode. used to change the mode. mode up down set cooling fan fixed part (4 places) display the 5-digit, seven-segment led shows the servo status and alarm number. section 15.5 reference name/application section 15.5 section 3.3 section 13.1.2 chapter 14 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. rating plate encoder connector (cn2) connector for connection of the servo motor encoder. power supply/regenerative connector (cnp1) used to connect the input power supply and regenerative option. charge lamp lit to indicate that the main circuit is charged. while this lamp is lit, do not reconnect the cables. protective earth (pe) terminal ( ) ground terminal. servo motor power connector (cnp2) used to connect the servo motor. section 3.7 section 11.1 section 3.10 section 11.1 section 3.7 section 11.1 section 13.1.1 section 3.3 section 13.1.2 section 1.5 section 15.2 operation section used to perform status display, diagnostic, alarm and parameter setting operations.
15 - 6 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.1.6 servo system with auxiliary equipment warning 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. (1) MR-E-100AG-QW003 or less personal computer mr configurator (servo configuration software) regenerative option command device cn3 set cn1 cn2 cnp2 cnp1 l3 l1dcp wvu mitsubishi mr-e- c p l 3 l 2 l 1 to cn3 to cn1 servo amplifier l2 to cn2 to cnp2 (note) power supply options and auxiliary equipment circuit breaker magnetic contactor mr configurator (servo configuration software) reference section 13.2.2 section 13.2.2 section 13.1.4 options and auxiliary equipment regenerative option cables power factor improving reactor reference section 13.1.1 section 13.2.1 section 13.2.3 circuit breaker (nfb) or fuse power factor improving reactor (fr-bal) magnetic contactor (mc) protective earth mode charge servo motor note. a 1-phase 230vac power supply may be used with the servo amplifier of mr-e-70ag-qw003 or less. connect the power supply t o l 1 and l 2 terminals and leave l 3 open. refer to section 15.1.3 for the power supply specification.
15 - 7 15. mr-e- ag-qw003 servo amplifier compatible with analog input (2) mr-e-200ag-qw003 command device l 3 l 2 l 1 dc l3 pl1 l2 charge cnp2 cnp1 cn1 cn2 u v w cn3 mode set mit s u bis hi ezmotion p c powe r f acto r improving reacto r (fr-bal) 3-phase 200v to 230vac power supply circuit breaker (nfb) or fuse magnetic contactor (mc) to cn2 to cn1 to cn3 servo amplifier regenerative option personal computer to cnp2 options and auxiliary equipment circuit breaker magnetic contactor reference section 13.2.2 section 13.2.2 section 13.1.4 options and auxiliary equipment regenerative option cables power factor improving reactor reference section 13.1.1 section 13.2.1 section 13.2.3 mr configurator (servo configuration software) mr configurator (servo configuration software)
15 - 8 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.2. signals and wiring 15.2.1 standard connection example (1) speed control mode 10 to 10v 0 to 10v (note 3, 4) personal computer (note 8) mr configurator (servo configuration software) 1 9 12 10m or less ra1 ra2 8 4 3 5 6 7 emg son st1 st2 lsp lsn vin 1 alm zsp servo amplifier (note 1) vin (note 6) communication cable (note 2) forward rotation stroke end reverse rotation start forward rotation start servo-on emergency stop (note 4) reverse rotation stroke end cn1 (note 7) a a 2m or less (note 6) monitor output max. 1ma reading in both directions plate 20 19 18 lz 15 11 10 sa ra3 ra4 13 sg plate mo1 4 lg 3 mo2 6 sd rd 16 17 21 14 ready speed reached zero speed trouble (note 5) 2m or less vc 26 lg 14 tla 2 sd analog speed command 10v/rated speed analog torque limit 10v/max. torque cn1 (note 7) (note 9) external power supply 24vdc encoder z-phase pulse (differential line driver) encoder a-phase pulse (differential line driver) encoder b-phase pulse (differential line driver) control common encoder z-phase pulse (open collector) 10k 10k cn3 (note 7) cn1 (note 7) cn3 (note 7) lzr la lar lb lbr lg op sd plate
15 - 9 15. mr-e- ag-qw003 servo amplifier compatible with analog input 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 ou tput signals, disabling the emergency stop and other protective circuits. 3. the emergency stop switch (normally closed contact) must be installed. 4. when starting operation, always connect the emergency stop (emg) and forward rotation stroke end (lsp), reverse rotation str oke end (lsn) with vin. (normally closed contacts) 5. trouble (alm) is connected with vin in normal alarm-free condition. 6. when connecting the personal computer together with monitor outputs 1, 2, use the branch cable (mr-e3cbl15-p). (refer to section 13.1.3) 7. the pins with the same signal name are connected in the servo amplifier. 8. use mrzjw3-setup 154e or 154c. 9. externally supply 24vdc 10 , 200ma power for the interface. 200ma is a value applicable when all i/o signals are used. reducing the number of i/o points decreases the current capacity. refer to the current necessary for the interface described in section 3.6.2. connect the external 24vdc power supply if the output signals are not used.
15 - 10 15. mr-e- ag-qw003 servo amplifier compatible with analog input (2) torque control mode 10 to 10v 8 to 8v (note 3, 4) personal computer (note 8) mr configurator (servo configuration software) 10m or less ra1 ra2 servo amplifier (note 1) (note 6) communication cable (note 2) reverse rotation start forward rotation start servo-on emergency stop 2m or less (note 6) monitor output max. 1ma reading in both directions ra3 plate ready zero speed trouble (note 5) 2m or less analog torque command 8v/max. torque analog speed limit 0 to 10v/rated speed cn1 (note 7) (note 9) external power supply 24vdc encoder z-phase pulse (differential line driver) encoder a-phase pulse (differential line driver) encoder b-phase pulse (differential line driver) control common encoder z-phase pulse (open collector) 10k 10k cn3 (note 7) cn1 (note 7) cn3 (note 7) plate plate 4 3 6 mo1 lg mo2 sd cn1 (note 7) 8 4 5 3 emg son rs1 rs2 vin 1 rd 1 9 12 ra1 ra2 alm zsp vin 20 19 18 lz 15 11 ra3 13 sg 16 17 21 14 tc 2 lg 14 vla 26 sd lzr la lar lb lbr lg op sd a a note 1. to prevent an electric shock, always connect the protective earth (pe) terminal (terminal marked ) of the servo amplifier to the protective earth (pe) of the control box. 2. connect the diode in the correct direction. if it is connected reversely, the servo amplifier will be faulty and will not ou tput signals, disabling the emergency stop and other protective circuits. 3. the emergency stop switch (normally closed contact) must be installed. 4. when starting operation, always connect the emergency stop (emg) with vin. (normally closed contacts) 5. trouble (alm) is connected with vin in normal alarm-free condition. 6. when connecting the personal computer together with monitor outputs 1, 2, use the branch cable (mr-e3cbl15-p). (refer to section 13.1.3) 7. the pins with the same signal name are connected in the servo amplifier. 8. use mrzjw3-setup 154e or 154c. 9. externally supply 24vdc 10 , 200ma power for the interface. 200ma is a value applicable when all i/o signals are used. reducing the number of i/o points decreases the current capacity. refer to the current necessary for the interface described in section 3.6.2. connect the external 24vdc power supply if the output signals are not used.
15 - 11 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.2.2 internal connection diagram of servo amplifier the following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode. approx. 4.7k external power supply 24vdc cn1 cn1 case cn1 cn3 case (note) servo amplifier (note) (note) t rd rd 11 st2 st1 emg lsp lsn sg emg sg rs2 sd sd s 13 son son 4 3 8 6 7 rs1 5 st sa 10 alm alm 9 zsp zsp 12 15 16 18 17 20 21 19 la lar lbr lb lzr op lz 4mo1 6 2 mo2 txd 1rxd 3lg lg 14 vin vin 1 sd st vc vla tla tc lg lg 26 2 14 approx. 4.7k approx. 4.7k approx. 4.7k approx. 4.7k approx. 4.7k pe note. s: speed control mode, t: torque control mode
15 - 12 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.2.3 connectors and signal arrangements point the pin configurations of the connectors are as viewed from the cable connector wiring section. refer to the next page for cn1 signal assignment. (1) signal arrangement mode cn3 set cn1 cn2 cnp2 cnp1 l3 l2l1 d c p w v u mitsubishi mr-e the connector frames are connected with the earth (pe) terminal ( ) inside the servo amplifier. 53 lg 1 rxd 6 mo2 4 mo1 2 txd 2 tla 1 vin 15 la 14 lg 16 lar 17 lb 3 st1 4 son 6 lsp 5 st2 19 lz 18 lbr 20 lzr 21 op 7 lsn 8 emg 10 sa 9 alm 23 22 24 25 11 rd 12 zsp 26 13 sg 2 tc 1 vin 15 la 14 lg 16 lar 17 lb 3 rs2 4 son 6 5 rs1 19 lz 18 lbr 20 lzr 21 op 7 8 emg 10 9 alm 23 22 24 25 11 rd 12 zsp 26 13 sg cn1(speed control mode) cn1(torque control mode) refer to section 3.3.2 vc vla charge cn2 9 4 mrr 2 lg 8 6 1 p5 5 10 3 mr 7 lg mdr md
15 - 13 15. mr-e- ag-qw003 servo amplifier compatible with analog input (2) cn1 signal assignment the signal assignment of connector changes with the control mode as indicated below. for the pins which are given parameter no.s in the related parameter column, their signals can be changed using those parameters. (note 2) i/o signals in control modes connector pin no. (note 1) i/o s s/t t 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 o op op op 22 23 24 25 cn1 26 i vc vc/vla vla note 1. i: input signal, o: output signal 2. s: speed control mode, t: torque control mode, s/t: speed/torque control switching mode
15 - 14 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.2.4 signal explanations for the i/o interfaces (symbols in i/o column in the table), refer to section 3.6.2. in the control mode field of the table s: speed control mode, t: torque control mode : denotes that the signal may be used in the initial setting status. : denotes that the signal may be used by setting the corresponding parameter among parameters 43 to 49. the pin no.s in the connector pin no. column are those in the initial status. (1) input signals point the acceptance delay time of each input signal is less than 10ms. control mode signal symbol connector pin no. functions/applications i/o division s t forward rotation stroke end lsp cn1-6 to start operation, short lsp-vin and/or lsn-vin. open them to bring the motor to a sudden stop and make it servo-locked. set " 1" in parameter no.22 to make a slow stop. (refer to section 5.2.3.) di-1 (note) input signals operation lsp lsn ccw direction cw direction 1 1 0 1 lsn cn1-7 1 0 reverse rotation stroke end 0 0 note. 0: lsp/lsn-vin off (open) 1: sp/lsn-vin on (short) set parameter no.41 as indicated below to switch on the signals (keep terminals connected) automatically in the servo amplifier. parameter no.41 automatic on 1 lsp 1 lsn outside torque limit selection tl turn tl off to make internal torque limit 1 (parameter no.28) valid, or turn it on to make analog torque limit (tla) valid. when using this signal, make it usable by making the setting of parameter no.43 to 48. for details, refer to, section 15.2.5 (1)(c). di-1 internal torque limit selection tl1 when using this signal, make it usable by making the setting of parameter no.43 to 48. (refer to, section 3.4.1 (5).) di-1
15 - 15 15. mr-e- ag-qw003 servo amplifier compatible with analog input control mode signal symbol connector pin no. functions/applications i/o division p s st1 cn1-3 used to start the servo motor in any of the following directions. di-1 forward rotation start (note) input signals st2 st1 servo motor starting direction 0 0 stop (servo lock) st2 cn1-5 0 1 ccw reverse rotation start 1 0 cw 1 1 stop (servo lock) note. 0: st1/st2-vin off (open) 1: st1/st2-vin on (short) if both st1 and st2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the parameter no.12 setting and servo-locked. rs1 cn1-5 used to select any of the following servo motor torque generation directions. di-1 forward rotation selection (note) input signals st2 st1 torque generation direction 0 0 torque is not generated. rs2 cn1-3 0 1 forward rotation in driving mode/reverse rotation in regenerative mode reverse rotation selection 1 0 reverse rotation in driving mode/forward rotation in regenerative mode 1 1 torque is not generated. note. 0: st1/st2-vin off (open) 1: st1/st2-vin on (short)
15 - 16 15. mr-e- ag-qw003 servo amplifier compatible with analog input control mode signal symbol connector pin no. functions/applications i/o division p s speed selection 1 sp1 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 speed selection 2 sp2 (note) input signals di-1 sp3 sp2 sp1 speed command 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 command 3 (parameter no.10) 1 0 0 internal speed command 4 (parameter no.72) 1 0 1 internal speed command 5 (parameter no.73) 1 1 0 internal speed command 6 (parameter no.74) 1 1 1 internal speed command 7 (parameter no.75) note. 0: sp1/sp2/sp3-vin off (open) 1: sp1/sp2/sp3-vin on (short) used to select the command speed for operation. when using sp1 to sp3, make it usable by making the setting of parameter no.43 to 48. (note) input signals sp3 sp2 sp1 speed limit 0 0 0 analog speed limit (vla) 0 0 1 internal speed limit 1 (parameter no.8) 0 1 0 internal speed limit 2 (parameter no.9) 0 1 1 internal speed limit 3 (parameter no.10) 1 0 0 internal speed limit 4 (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: sp1/sp2/sp3-vin off (open) 1: sp1/sp2/sp3-vin on (short) control change lop used to select the control mode in the position/speed control change mode. di-1 (note) lop control mode 0 position 1 speed note. 0: lop-vin off (open) 1: lop-vin on (short) refer to func- tions/ applica- tions. servo-on son cn1-4 same as mr-e- a-qw003. (refer to section 3.3.2 (1).) di-1 reset res di-1 proportion control pc di-1 emergency stop emg cn1-8 di-1 gain changing cdp di-1
15 - 17 15. mr-e- ag-qw003 servo amplifier compatible with analog input control mode signal symbol connecto r pin no. functions/applications i/o division p s analog torque limit tla cn1-2 to use this signal in the speed control mode, set any of parameters no.43 to 48 to make tl available. when the analog torque limit (tla) is valid, torque is limited in the full servo motor output torque range. apply 0 to 10vdc across tla-lg. connect the positive terminal of the power supply to tla. maximum torque is generated at 10v. (refer to section 15.2.5 (1)(a).) resolution:10bit analog input analog torque command tc used to control torque in the full servo motor output torque range. apply 0 to 8vdc across tc-lg. maximum torque is generated at 8v. (refer to section 15.2.5 (2)(a).) the torque at 8v input can be changed using parameter no.26. analog input analog speed command vc cn1-26 apply 0 to 10vdc across vc-lg. speed set in parameter no.25 is provided at 10v. (refer to section 15.2.5 (1)(a).) resolution:14bit or equivalent analog input analog speed limit vla apply 0 to 10vdc across vla-lg. speed set in parameter no.25 is provided at 10v. (refer to section 15.2.5 (2)(c).) analog input
15 - 18 15. mr-e- ag-qw003 servo amplifier compatible with analog input (2) output signals control mode signal symbol connector pin no. functions/applications i/o division s t speed reached sa sa turns off when servo on (son) turns off or the servo motor speed has not reached the preset speed with both forward rotation start (st1) and reverse rotation start (st2) turned off. sa turns on when the servo motor speed has nearly reached the preset speed. when the preset speed is 30r/min or less, sa always turns on. do-1 limiting speed vlc vlc turns on when speed reaches the value limited using any of the internal speed limits 1 to 7 (parameter no.8 to 10, 72 to 75) or the analog speed limit (vla) in the torque control mode. vlc turns off when servo on (son) turns off. do-1 limiting torque tlc tlc turns on when the torque generated reaches the value set to the internal torque limit 1 (parameter no.28) or analog torque limit (tla). tlc turns off when servo on (son) tu rns off. do-1 trouble alm cn1-9 same as mr-e- a-qw003. (refer to section 3.3.2 (2).) do-1 ready rd cn1-11 do-1 zero speed zsp 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 cn1-16 encoder b-phase pulse (differential line driver) lb lbr cn1-17 cn1-18 encoder z-phase pulse (differential line driver) lz lzr cn1-19 cn1-20 analog monitor 1 mo1 cn3-4 analog output analog monitor 2 mo2 cn3-6 analog output
15 - 19 15. mr-e- ag-qw003 servo amplifier compatible with analog input (3) power control mode signal symbol connector pin no. functions/applications i/o division s t digital i/f power supply input vin cn1-1 same as mr-e- a-qw003. (refer to section 3.3.2 (4).) open collector power input opc cn1-2 digital i/f common sg cn1-13 control common lg cn1-14 shield sd plate
15 - 20 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.2.5 detailed description of the signals (1) speed control mode (a) speed setting 1) speed command and speed the servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (vc). a relationship between the analog speed command (vc) applied voltage and the servo motor speed is shown below. in the initial setting, rated speed is 10v. the speed at 10v can be changed using parameter no.25. preset rotation speed (value for parameter no.25) preset rotation speed (value for parameter no.25) [r/min] 10 010 speed [r/min] cw direction vc applied voltage [v] ccw direction 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 1) external input signals (note 2) rotation direction analog speed command (vc) st2 st1 polarity 0v polarity internal speed commands 0 0 stop (servo lock) stop (servo lock) stop (servo lock) stop (servo lock) 0 1 ccw cw ccw 1 0 cw stop (no servo lock) ccw cw 1 1 stop (servo lock) stop (servo lock) stop (servo lock) stop (servo lock) note 1. 0: off 1: on 2. releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position deviation from the instructed position. the forward rotation start (st1) and reverse rotation start (st2) can be assigned to any pins of the connector cn1 using parameters no.43 to 48. generally, make connection as shown below. 10 to 10v servo amplifier st1 st2 vin vc lg sd
15 - 21 15. mr-e- ag-qw003 servo amplifier compatible with analog input 2) speed selection 1 (sp1), speed selection 2 (sp2), speed selection 3 (sp3) and speed command value by making speed selection 1 (sp1), speed selection 2 (sp2) and speed selection 3 (sp3) usable by setting of parameter no.43 to 47, you can choose the speed command values of internal speed commands 1 to 7. (note) external input signals sp3 sp2 sp1 speed command value 0 0 0 analog speed command (vc) 0 0 1 internal speed command 1 (parameter no.8) 0 1 0 internal speed command 2 (parameter no.9) 0 1 1 internal speed command 3 (parameter no.10) 1 0 0 internal speed command 4 (parameter no.72) 1 0 1 internal speed command 5 (parameter no.73) 1 1 0 internal speed command 6 (parameter no.74) 1 1 1 internal speed command 7 (parameter no.75) note. 0: sp1/sp2/sp3-vin off (open) 1: sp1/sp2/sp3-vin on (short) the speed may be changed during rotation. in this case, the values set in parameters no.11 and 12 are used for acceleration/deceleration. when the speed has been specified under any internal speed command, it does not vary due to the ambient temperature. (b) speed reached (sa) sa-vin are connected when the servo motor speed nearly reaches the speed set to the internal speed command. on off on off set speed selection internal speed command 1 internal speed command 2 start (st1,st2) servo motor speed speed reached (sa)
15 - 22 15. mr-e- ag-qw003 servo amplifier compatible with analog input (c) torque limit caution releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position deviation from the instructed position. 1) torque limit and torque by setting parameter no.28 (internal torque limit 1), torque is always limited to the maximum value during operation. a relationship between the limit value and servo motor torque is shown below. 100 0 torque max. torque tor q ue limit value [ ] 0 a relationship between the applied voltage of the analog torque limit (tla) and the torque limit value of the servo motor is shown below. torque limit values will vary about 5 relative to the voltage depending on products. at the voltage of less than 0.05v, torque may vary as it may not be limited sufficiently. therefore, use this function at the voltage of 0.05v or more. 0 to 10v 5 10 0 100 tla application voltage [v] 0 torque limit value[ ] 0.05 tla application voltage vs. torque limit value servo amplifier tl vin tla lg sd 2) torque limit value selection use parameters no.43 through 48 to enable external torque limit (tl) and internal torque limit (tl1). torque limit values can be selected as shown in the following table. however, if the parameter no.28 value is less than the limit value selected by tl/tl1, the parameter no.28 value is made valid. (note) external input signals tl1 tl torque limit value made valid 0 0 internal torque limit 1 (parameter no.28) 0 1 tla parameter no.28: parameter no.28 tla parameter no.28: tla 1 0 parameter no.76 parameter no.28: parameter no.28 parameter no.76 parameter no.28: parameter no.76 1 1 tla parameter no.76: parameter no.76 tla parameter no.76: tla note.0: off 1: on
15 - 23 15. mr-e- ag-qw003 servo amplifier compatible with analog input (2) torque control mode (a) torque command 1) torque command and torque a relationship between the applied voltage of the analog torque command (tc) and the torque by the servo motor is shown below. the maximum torque is generated at 8v. note that the torque at 8v input can be changed with parameter no.26. forward rotation (ccw) reverse rotation ( cw ) 8 0.05 8 0.05 max. torque generated torque ccw direction cw direction max. torque (note) tc applied voltage [v] generated torque limit values will vary about 5 relative to the voltage depending on products. also the torque may vary if the voltage is low ( 0.05 to 0.05v) and the actual speed is close 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 generated. 0 1 ccw (reverse rotation in driving mode/forward rotation in regenerative mode) cw (forward rotation in driving mode/reverse rotation in regenerative mode) 1 0 cw (forward rotation in driving mode/reverse rotation in regenerative mode) ccw (reverse rotation in driving mode/forward rotation in regenerative mode) 1 1 torque is not generated. torque is not generated. torque is not generated. note. 0: off 1: on generally, make connection as shown below. rs1 rs2 tc lg sd 8 to 8v servo amplifie r vin
15 - 24 15. mr-e- ag-qw003 servo amplifier compatible with analog input 2) analog torque command offset using parameter no.30, the offset voltage of 999 to 999mv can be added to the tc applied voltage as shown below. 0 8( 8) max. torque generated torque tc applied voltage [v] parameter no.30 offset range 999 to 999mv (b) torque limit by setting parameter no.28 (internal torque limit 1), torque is always limited to the maximum value during operation. a relationship between limit value and servo motor torque is as in (1)(c) of this section. note that the analog torque limit (tla) is unavailable. (c) speed limit 1) speed limit value and speed the speed is limited to the values set in parameters no.8 to 10, 72 to 75 (internal speed limits 1 to 7) or the value set in the applied voltage of the analog speed limit (vla). a relationship between the analog speed limit (vla) applied voltage and the servo motor speed is shown below. when the servo motor speed reaches the speed limit value, torque control may become unstable. make the set value more than 100r/min greater than the desired speed limit value. forward rotation (ccw) reverse rotation (cw) 10 010 rated speed speed [r/min] ccw direction cw direction vla applied voltage [v] rated speed the following table indicates the limit direction according to forward rotation selection (rs1) and reverse rotation selection (rs2) combination. (note) external input signals speed limit direction analog speed limit (vla) rs1 rs2 polarity polarity internal speed commands 1 0 ccw cw ccw 0 1 cw ccw cw note.0: off 1: on
15 - 25 15. mr-e- ag-qw003 servo amplifier compatible with analog input generally, make connection as shown below. 10 to 10v servo amplifier rs1 rs2 vin vla lg sd 2) speed selection 1(sp1)/speed selection 2(sp2)/speed selection 3(sp3) and speed limit values choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(sp1), speed selection 2(sp2) and speed selection 3(sp3) or the speed setting made by the analog speed limit (vla), as indicated below. (note) external input signals sp3 sp2 sp1 speed limit value 0 0 0 analog speed limit (vla) 0 0 1 internal speed limit 1 (parameter no.8) 0 1 0 internal speed limit 2 (parameter no.9) 0 1 1 internal speed limit 3 (parameter no.10) 1 0 0 internal speed limit 4 (parameter no.72) 1 0 1 internal speed limit 5 (parameter no.73) 1 1 0 internal speed limit 6 (parameter no.74) 1 1 1 internal speed limit 7 (parameter no.75) note.0: off 1: on when the internal speed limits 1 to 7 are used to command the speed, the speed does not vary with the ambient temperature. 3) limiting speed (vlc) vlc turns on when the servo motor speed reaches the speed limited using any of the internal speed limits 1 to 7 or the analog speed limit (vla).
15 - 26 15. mr-e- ag-qw003 servo amplifier compatible with analog input (3) speed/torque control change mode set "0003" in parameter no.0 to switch to the speed/torque control change mode. (a) control change (lop) use control change (lop) to switch between the speed control mode and the torque control mode from an external contact. relationships between lop and control modes are indicated below. (note) lop servo control mode 0 speed control mode 1 torque control mode note.0: off 1: on the control mode may be changed at any time. a change timing chart is shown below. 10v 0 on off torque control mode servo motor speed control change (lop) (note) speed control mode speed control mode analog torque command (tc) load torque forward rotation in driving mode note. when the start (st1 st2) is switched off as soon as the mode is changed to speed control, the servo motor comes to a stop according to the deceleration time constant. (b) speed setting in speed control mode same as (1)(a). (c) torque limit in speed control mode same as (1)(c). (d) speed limit in torque control mode same as (2)(c). (e) torque control in torque control mode same as (2)(a). (f) torque limit in torque control mode same as (2)(b).
15 - 27 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.3 startup warning do not operate the switches with wet hands. you may get an electric shock. caution before starting operation, check the parameters. some machines may perform unexpected operation. take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. their temperatures may be high and you may get burnt or a parts may damaged. during operation, never touch the rotating parts of the servo motor. doing so can cause injury. perform pre-operation checks while referring to section 4.1. connect the servo motor with a machine after confirming that the servo motor operates properly alone. use parameter no.0 to choose the control mode used. after setting, this parameter is made valid by switching power off, then on. 15.3.1 speed control mode (1) power on 1) switch off the servo-on (son). 2) when power is switched on, the display shows "r (servo motor speed)", and in two second later, shows data. (2) test operation confirm servo motor operation by operating jog of test operation mode at lowest speed possible. (refer to section 6.8.2.)
15 - 28 15. mr-e- ag-qw003 servo amplifier compatible with analog input (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 section 6.5 for the setting method. 10 1 5 description parameter no. name setting control mode, regenerative option selection 0 function selection 1 1 auto tuning 2 8 1000 9 1500 speed control mode regenerative option is not used. input filter 3.555ms (initial value) electromagnetic brake interlock (mbr) is used. 0 2 12 middle response (initial value) is selected. auto tuning mode 1 is selected. set 1000r/min. set 1500r/min. internal speed command 1 internal speed command 1 2000 set 2000r/min. internal speed command 1 11 1000 set 1000ms. acceleration time constant 12 500 set 500ms. deceleration time constant 13 0 not used s-pattern acceleration/deceleration time constant turn the power off to validate changes in 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 power supply. 2) switch on the servo-on (son). when placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked. (5) start using speed selection 1 (sp1) and speed selection 2 (sp2), choose the servo motor speed. turn on forward rotation start (st1) to run the motor in the forward rotation (ccw) direction or reverse rotation start (st2) to run it in the reverse rotation (cw) direction. at first, set a speed as low as possible and check the rotation direction, etc. if it does not run in the intended direction, check the input signal. on the status display, check the speed, load factor, etc. of the servo motor. when machine operation check is over, check automatic operation with the host controller or the like. this servo amplifier has a real-time auto tuning function under model adaptive control. performing operation automatically adjusts gains. the optimum tuning results are provided 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 for the servo motor equipped with electromagnetic brake. note that simultaneous on or simultaneous off of forward rotation stroke end (lsp), reverse rotation stroke end (lsn) off and forward rotation start (st1) or reverse rotation start (st2) has the same stop pattern as described below. (a) servo-on (son) off the base circuit is shut off and the servo motor coasts. (b) alarm 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.
15 - 29 15. mr-e- ag-qw003 servo amplifier compatible with analog input (c) emergency stop (emg) off the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. alarm al.e6 (servo emergency stop warning) occurs. (d) forward rotation stroke end (lsp), reverse rotation stroke end (lsn) off the servo motor is brought to a sudden stop and servo-locked. the motor may be run in the opposite direction. (e) simultaneous on or simultaneous off of forward rotation start (st1) and reverse rotation start (st2) the servo motor is decelerated to a stop. point a sudden stop indicates deceleration to a stop at the deceleration time constant of zero.
15 - 30 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.3.2 torque control mode (1) power on 1) switch off the servo-on (son). 2) when power is switched on, the display shows "u (torque command voltage)", and 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 section 6.5 for the setting method. controlled to 50 output 10 description parameter no. name setting control mode, regenerative option selection 0 function selection 1 1 8 1000 9 1500 torque control mode regenerative option is not used. input filter 3.555ms (initial value) electromagnetic brake interlock (mbr) is used. 0 4 02 set 1000r/min. set 1500r/min. internal speed command 1 internal speed command 1 2000 set 2000r/min. internal speed command 1 11 1000 set 1000ms. acceleration time constant 12 500 set 500ms. deceleration time constant 13 0 not used s-pattern acceleration/deceleration time constant 14 2000 28 50 set 2000r/min. internal torque limit 1 torque command time constant turn the power off after setting parameters no.0 and 1. then switch power on again to make the set parameter values valid. (4) servo-on switch the servo-on in the following procedure. 1) switch on power supply. 2) switch on the servo-on (son). when placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked. (5) start using speed selection 1 (sp1) and speed selection 2 (sp2), choose the servo motor speed. turn on forward rotation select (di4) to run the motor in the forward rotation (ccw) direction or reverse rotation select (di3) to run it in the reverse rotation (cw) direction, generating torque. at first, set a low speed and check the rotation direction, etc. if it does not run in the intended direction, check the input signal. on the status display, check the speed, load factor, etc. of the servo motor. when machine operation check is over, check automatic operation with the host controller or the like.
15 - 31 15. mr-e- ag-qw003 servo amplifier compatible with analog input (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 for the servo motor equipped with electromagnetic brake. (a) servo-on (son) off the base circuit is shut off and the servo motor 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 (servo emergency stop warning) occurs. (d) simultaneous on or simultaneous off of forward rotation selection (rs1) and reverse rotation selection (rs2) the servo motor coasts. point a sudden stop indicates deceleration to a stop at the deceleration time constant of zero.
15 - 32 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.4 parameters point before changing the settings of parameters no.20 through 84, cancel write protection while referring to section 5.1.1. for any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. the symbols in the control mode column of the table indicate the following modes: s: speed control mode t: torque control mode 15.4.1 item list class no. symbol name control mode initial value unit customer setting 0 *sty control mode, regenerative option selection s t (note 1) 1 *op1 function selection 1 s t 0002 2 atu auto tuning s 0105 3 for manufacturer setting 1 4 1 5 100 6 pg1 position loop gain 1 s 35 rad/s 7 for manufacture setting 3 internal speed command 1 s 100 r/min 8 sc1 internal speed limit 1 t 100 r/min internal speed command 2 s 500 r/min 9 sc2 internal speed limit 2 t 500 r/min internal speed command 3 s 1000 r/min 10 sc3 internal speed limit 3 t 1000 r/min 11 sta acceleration time constant s t 0 ms 12 stb deceleration time constant s t 0 ms 13 stc s-pattern acceleration/deceleration time constant s t 0 ms 14 tqc torque command time constant t 0 ms 15 *sno station number setting s t 0 station 16 *bps serial communication function selection, alarm history clear s t 0000 17 mod analog monitor output s t 0100 18 *dmd status display selection s t 0000 basic parameters 19 *blk parameter block s t 0000
15 - 33 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name control mode initial value unit customer setting 20 *op2 function selection 2 s t 0000 21 for manufacturer setting 0000 22 *op4 function selection 4 s t 0000 23 for manufacturer setting 0 24 zsp zero speed s t 50 r/min analog speed command maximum speed s (note 3)0 (r/min) 25 vcm analog speed limit maximum speed t (note 3)0 (r/min) 26 tlc analog torque command maximum output t 100 27 *enr encoder output pulses s t 4000 pulse /rev 28 tl1 internal torque limit 1 s t 100 analog speed command offset s (note 2) mv 29 vco analog speed limit offset t (note 2) mv analog torque command offset t 0 mv 30 tlo analog torque limit offset s 0 mv 31 mo1 analog monitor 1 offset s t 0 mv 32 mo2 analog monitor 2 offset s t 0 mv 33 mbr electromagnetic brake sequence output s t 100 ms 34 gd2 ratio of load inertia moment to servo motor inertia moment s t 70 multiplier ( 10 1 ) 35 pg2 position loop gain 2 s 35 rad/s 36 vg1 speed loop gain 1 s 177 rad/s 37 vg2 speed loop gain 2 s 817 rad/s 38 vic speed integral compensation s 48 ms 39 vdc speed differential compensation s 980 40 for manufacturer setting 0 41 *dia input signal automatic on selection s t 0000 42 *di1 input signal selection 1 s/t 0002 43 *di2 input signal selection 2 (cn1-4) s t 0111 44 *di3 input signal selection 3 (cn1-3) s t 0882 45 *di4 input signal selection 4 (cn1-5) s t 0995 46 *di5 input signal selection 5 (cn1-6) s t 0000 47 *di6 input signal selection 6 (cn1-7) s t 0000 48 *lspn lsp/lsn input terminals selection s 0403 expansion parameters 1 49 *do1 output signal selection 1 s t 0000 50 for manufacturer setting 0000 51 *op6 function selection 6 s t 0000 52 for manufacturer setting 0000 53 *op8 function selection 8 s t 0000 54 *op9 function selection 9 s t 0000 55 for manufacturer setting 0000 56 sic serial communication time-out selection s t 0 s 57 for manufacturer setting 10 58 nh1 machine resonance suppression filter 1 s t 0000 59 nh2 machine resonance suppression filter 2 s t 0000 60 lpf low-pass filter/adaptive vibration suppression control s t 0000 61 gd2b ratio of load inertia moment to servo motor inertia moment 2 s 70 multiplier ( 10 1 ) 62 for manufacturer setting 100 63 vg2b speed control gain 2 changing ratio s 100 expansion parameters 2 64 vicb speed integral compensation changing ratio s 100
15 - 34 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name control mode initial value unit customer setting 65 *cdp gain changing selection s 0000 66 cds gain changing condition s 10 (note 2) 67 cdt gain changing time constant s 1 ms 68 for manufacturer setting 0 69 1 70 1 71 1 internal speed command 4 s 72 sc4 internal speed limit 4 t 200 r/min internal speed command 5 s 73 sc5 internal speed limit 5 t 300 r/min internal speed command 6 s 74 sc6 internal speed limit 6 t 500 r/min internal speed command 7 s 75 sc7 internal speed limit 7 t 800 r/min 76 tl2 internal torque limit 2 s t 100 77 100 78 10000 79 10 80 10 81 100 82 100 83 100 expansion parameters 2 84 for manufacturer setting 0000 note 1. depends on the capacity of the servo amplifier. 2. depends on the parameter no.65 setting. 3. the setting of "0" provides the rated servo motor speed.
15 - 35 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.4.2 details list class no. symbol name and function initial value unit setting range control mode control mode, regenerative option selection used to select the control mode and regenerative option. motor series selection 0: hf-ke w1-s100 1: hf-se jw1-s100 select the control mode. 0: speed 1: speed and torque 2: torque selection of regenerative option 0: regenerative option is not used for the servo amplifier of 200w or lower, regenerative resistor is not used. for the servo amplifier of 400w or higher, built-in regenerative resistor is used. 2: mr-rb032 3: mr-rb12 4: mr-rb32 5: mr-rb30 6: mr-rb50 (cooling fan is required) motor capacity selection 0: 100w 1: 200w 2: 400w 3: 500w 4: 750w 5: 1kw 6: 1.5kw 7: 2kw point wrong setting may cause the regenerative option to burn. if the regenerative option selected is not for use with the servo amplifier, parameter error (al.37) occurs. 0 *sty 100w : 0000 200w : 1000 400w : 2000 700w : 4000 1kw : 5010 2kw : 6010 refer to name and function column. s t basic parameters 1 *op1 function selection 1 used to select the input signal filter, the function of pin cn1-12. input signal filter if external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: none 1: 1.777[ms] 2: 3.555[ms] 3: 5.333[ms] cn1-12 function selection 0: zero speed detection signal 1: electromagnetic brake interlock (mbr) 0 0 0002 refer to name and function column. s t
15 - 36 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 2 atu auto tuning used to selection the response level, etc. for execution of auto tuning. refer to chapter 7. auto tuning response level setting if the machine hunts or generates large gear sound, decrease the set value. to improve performance, e.g. shorten the settling time, increase the set value. set value response level 1 low response middle response high response gain adjustment mode selection (for more information, refer to section 7.1.1.) machine resonance frequency guideline 15hz 2 20hz 3 25hz 4 30hz 5 35hz 6 45hz 7 55hz 8 70hz 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 ordinary auto tuning. 0 0 0105 refer to name and function column. s 3 1 4 1 5 for manufacturer setting do not change this value by any means. 100 6 pg1 position loop gain 1 used to set the gain of position loop. increase the gain to improve track ability in response to the position command. when auto turning mode 1,2 is selected, the result of auto turning is automatically used. to use this parameter, set " 1 " to parameter no.20 to validate servo lock at stop. 35 s basic parameters 7 for manufacturer setting do not change this value by any means. 3
15 - 37 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode internal speed command 1 used to set speed 1 of internal speed commands. s 8 sc1 internal speed limit 1 used to set speed 1 of internal speed limits. 100 r/min 0 to instan- taneous permi- ssible speed t internal speed command 2 used to set speed 2 of internal speed commands. s 9 sc2 internal speed limit 2 used to set speed 2 of internal speed limits. 500 r/min 0 to instan- taneous permi- ssible speed t internal speed command 3 used to set speed 3 of internal speed commands. s 10 sc3 internal speed limit 3 used to set speed 3 of internal speed limits. 1000 r/min 0 to instan- taneous permi- ssible speed t 11 sta acceleration time constant used to set the acceleration time required to reach the rated speed from 0r/min in response to the analog speed command and internal speed commands 1 to 7. tim e parameter no.12 setting parameter no.11 setting zero speed rated speed speed if the preset speed command is lower than the rated speed, acceleration/deceleration time will be shorter. for example for the servo motor of 3000r/min rated speed, set 3000 (3s) to in c r ease speed fr o m 0 r / min to 1 000 r / min in 1 seco n d . 0 12 stb deceleration time constant used to set the deceleration time required to reach 0r/min from the rated speed in response to the analog speed command and internal speed commands 1 to 7. 0 ms 0 to 20000 s t basic parameters 13 stc s-pattern acceleration/deceleration time constant used to smooth start/stop of the servo motor. set the time of the arc part for s-pattern acceleration/deceleration. sta: acceleration time constant (parameter no.11) stb: deceleration time constant (parameter no.12) stc: s-pattern acceleration/deceleration time constant (parameter no.13) speed command servo motor speed 0r/min stc sta stc stc stb stc time long setting of sta (acceleration time constant) or stb (deceleration time constant) may produce an error in the time of the arc part for the setting of the s-pattern acceleration/deceleration time constant. the upper limit value of the actual arc part time is limited by at the setting of sta 20000, stb 5000 and stc 200, the actual arc part times are as follows. for acceleration or by for deceleration. (example) during acceleration: 100[ms] 2000000 20000 100[ms] 200[ms]. limited to 100[ms] since during deceleration: 200[ms] 2000000 5000 400[ms] 200[ms]. 200[ms] as set since 2000000 sta 2000000 stb 0 ms 0 to 1000 s t
15 - 38 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 14 tqc torque command time constant used to set the constant of a low-pass filter in response to the torque command. torque command tqc tqc time after filtered tqc: torque command time constant torque 0 ms 0 to 20000 t 15 *sno station number setting used to specify the station number for serial communication. always set one station to one axis of servo amplifier. if one station number is set to two or more stations, normal communication cannot be made. 0 station 0 to 31 s t basic parameters 16 *bps serial communication function selection, alarm history clear used to select the serial communication baud rate, select various communication conditions, and clear the alarm history. serial baud rate selection 0: 9600 [bps] 1: 19200[bps] 2: 38400[bps] 3: 57600[bps] alarm history clear 0: invalid (not cleared) 1: valid (cleared) when alarm history 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. s t
15 - 39 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 17 mod analog monitor output used to selection the signal provided to the analog monitor (mo1) analog monitor (mo2) output. (refer to section 5.2.2) servo motor speed ( 8v/max. speed) setting 0 analog monitor 2 (mo2) 1 torque ( 8v/max. torque) 2 servo motor speed ( 8v/max. speed) 3 torque ( 8v/max. torque) 4 current command ( 8 v/max. current command) 5 6 7 8 9 a 0 0 b analog monitor 1 (mo1) cannot be used. bus voltage ( 8v/400v) 0100 refer to name and function column. s t basic parameters 18 * dmd status display selection used to select the status display shown at power-on. status display at power-on in corresponding control mode 0: depends on the control mode. 0 0 selection of status display at power-on 0: cumulative feedback pulses 1: servo motor speed 2: cannot be used 3: cannot be used 4: cannot be used 7: regenerative load ratio 8: effective load ratio 9: peak load ratio a: instantaneous torque b: within one-revolution position low c: within one-revolution position high d: load inertia moment ratio e: bus voltage 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 1: depends on the first digit setting of this parameter. 0000 refer to name and function column. s t
15 - 40 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode parameter block used to select the reference and write ranges of the parameters. operation can be performed for 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 parameters 19 *blk 0000 refer to name and function column. s t
15 - 41 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 0000 refer to name and function column. s s 20 *op2 function selection 2 used to select restart after instantaneous power failure, servo lock at a stop in speed control mode, and slight vibration suppression control. 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" in parameter no.2. used to suppress vibration at a stop. 0: invalid 1: valid encoder cable communication system selection incorrect setting will result in an encoder alarm 1 (al.16) or encoder alarm 2 (al.20). 0: two-wire type 1: four-wire type 0: invalid (undervoltage alarm (al.10) occurs.) 1: valid if the power supply voltage has returned to normal after an undervoltage status caused by the reduction of the input power supply voltage in the speed control mode, the servo motor can be restarted by merely turning on the start signal without resetting the alarm. s t expansion parameters 1 21 for manufacturer setting do not change this value by any means. 0000
15 - 42 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode s 22 *op4 function selection 4 used to select stop processing at forward rotation stroke end (lsp) reverse rotation stroke end (lsn) off, c hoose tlc/vlc output and choose vc/vla voltage averaging. how to make a stop when forward rotation stroke end (lsp) reverse rotation stroke end (lsn) is valid. (refer to section 5.2.3.) 0: sudden stop 1: slow stop set value 0 1 2 filtering time [ms] 0 0.444 0.888 3 1.777 vc/vla voltage averaging used to set the filtering time when the analog speed command (vc) voltage or analog speed limit (vla) is imported. set 0 to vary the speed to voltage fluctuation in real time. increase the set value to vary the speed slower to voltage fluctuation. 4 3.555 0 set value 0 1 2 connector pin 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 do not change this value by any means. 0 24 zsp zero speed used to set the output range of the zero speed (zsp). 50 r/min 0 to 10000 s t 25 vcm 0 0 s analog speed command maximum speed used to set the speed at the maximum input voltage (10v) of the analog speed command (vc). set "0" to select the rated speed of the servo motor connected. r/min 1 to 50000 0 0 t analog speed limit maximum speed used to set the speed at the maximum input voltage (10v) of the analog speed limit (vla). set "0" to select the rated speed of the servo motor connected. r/min 1 to 50000 expansion parameters 1 26 tlc analog torque command maximum output used to set the output torque at the analog torque command voltage (tc 8v) of 8v on the assumption that the maximum torque is 100[ ]. for example, set 50 to output (maximum torque 50/100) at the tc of 8v. 100 0 to 1000 t
15 - 43 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 27 *enr encoder output pulses used to set the encoder pulses (a-phase or b-phase) output by the servo amplifier. set the value 4 times greater than the a-phase or b-phase pulses. you can use parameter no.54 to choose the output pulse designation or output division ratio setting. the number of a b-phase pulses actually output is 1/4 times greater than the preset number of pulses. the maximum output frequency is 1.3mpps (after multiplication by 4). use this parameter within this range. for output pulse designation set "0 " (initial value) in parameter no.54. set the number of pulses per servo motor revolution. output pulse set value [pulses/rev] at the setting of 5600, for example, the actually a b-phase pulses output are as indicated below. 4 5600 a b-phase output pulses 1400[pulse] for output division ratio setting set "1 " in parameter no.54. the number of pulses per servo motor revolution is divided by the set value. output pulse [pulses/rev] resolution per servo motor revolution set value at the setting of 8, for example, the actually a b-phase pulses output are as indicated below. a b-phase output pulses 313[pulse] 8 10000 4 1 4000 pulse/ rev 1 to 65535 s t 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. (note) tl torque limit 0 internal torque limit 1 (parameter no.28) 1 analog torque limit internal torque limit 1 : analog torque limit analog torque limit internal torque limit 1 : internal torque limit 1 28 tl1 note. 0 :off 1 :on when torque is output in analog monitor output, this set value is the maximum output voltage ( 8v). (refer to section 15.2.5 (1)(c).) 100 0 to 100 s t analog speed command offset used to set the offset voltage of the analog speed command (vc). for example, if ccw rotation is provided by switching on forward rotation start (st1) with 0v applied to vc, set a negative value. when automatic vc offset is used, the automatically offset value is set to this parameter. (refer to section 15.5.3.) the initial value is the value provided by the automatic vc offset function before shipment at the vc-lg voltage of 0v. s expansion parameters 1 29 vco analog speed limit offset used to set the offset voltage of the analog speed limit (vla). for example, if ccw rotation is provided by switching on forward rotation selection (rs1) with 0v applied to vla, set a negative value. when automatic vc offset is used, the automatically offset value is set to this parameter. (refer to section 15.5.3.) the initial value is the value provided by the automatic vc offset function before shipment at the vla-lg voltage of 0v. depends on servo amplifier mv 999 to 999 t
15 - 44 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode analog torque command offset used to set the offset voltage of the analog torque command (tc). t 30 tlo analog torque limit offset used to set the offset voltage of the analog torque limit (tla). 0 mv 999 to 999 s 31 mo1 analog monitor 1 offset used to set the offset voltage of the analog monitor 1 (mo1). 0 mv 999 to 999 s t 32 mo2 analog monitor 2 offset used to set the offset voltage of the analog monitor 2 (mo2). 0 mv 999 to 999 s t 33 mbr electromagnetic brake sequence output used to set the delay time (tb) between electronic brake interlock (mbr) and the base drive circuit is shut-off. 100 ms 0 to 1000 s t 34 gd2 ratio of load inertia moment to servo motor inertia moment used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. when auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (refer to section 7.1.1.) in this case, it varies between 0 and 1000. 70 multi- plier ( 10 1 ) 0 to 3000 s t 35 pg2 position loop gain 2 used to set the gain of the position loop. set this parameter to increase the position response to level load disturbance. higher setting increases the response level but is liable to generate vibration and/or noise. when auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is 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 liable to generate vibration and/or noise. when auto tuning mode 1 2, manual mode and interpolation mode is selected, the result of auto tuning is automatically used. 177 rad/s 20 to 8000 s 37 vg2 speed loop gain 2 set this parameter when vibration occurs on machines of low rigidity or large backlash. 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. 817 rad/s 20 to 20000 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 s 39 vdc speed differential compensation used to set the differential compensation. made valid when the proportion control (pc) is switched on. 980 0 to 1000 s expansion parameters 1 40 for manufacturer setting do not change this value by any means. 0
15 - 45 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode s t 41 *dia input signal automatic on selection used to set automatic servo-on (son) forward rotation stroke end (lsp) reverse rotation stroke end (lsn). servo-on (son) input selection 0: switched on/off by external input. 1: switched on automatically in servo amplifier. (no need of external wiring) 0: switched on/off by external input. 1: switched on automatically in servo amplifier. (no need of external wiring) 0: switched on/off by external input. 1: switched on automatically 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 change signal input connector pins. note that this parameter is made valid when parameter no.0 is set to select internal speed/torque change mode. set value 0 1 2 connector pin no. cn1-4 cn1-3 cn1-5 3 cn1-6 4 cn1-7 0 00 if forward rotation stroke end (lsp) or reverse rotation stroke end (lsn) is assigned to any pin with parameter no.48, this parameter cannot be used. 0002 refer to name and function column.
15 - 46 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode expansion parameters 1 43 *di2 input signal selection 2 (cn1-4) allows any input signal to be assigned to cn1-pin 4. note that the setting digit and assigned signal differ according to the control mode. speed control mode input signals of cn1-pin 4 selected. torque control mode 0 1 signals 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 st 0 1 2 3 4 5 6 7 8 9 son son res res pc pc sp1 sp2 rs2 rs1 cr cr a sp3 b c d tl1 e cdp tl1 cdp f tl tl sp1 sp2 st1 st2 sp3 note: p: position control mode s: internal speed control mode this parameter is unavailable when parameter no.42 is set to assign the control change (lop) to cn1-pin 4. if rotation stroke end (lsp) or reverse rotation stroke end (lsn) is assigned to pin 4 of cn1 with parameter no.48, this parameter cannot be used. 0111 refer to name and function column. s t
15 - 47 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 44 *di3 input signal selection 3 (cn1-3) allows any input signal to be assigned to cn1-pin 3. the assignable signals and setting method are the same as in input signal selection 2 (parameter no.43). speed control mode input signals of cn1-pin 3 selected. torque control mode 0 2 this parameter is unavailable when parameter no.42 is set to assign the control change (lop) to cn1-pin 3. if forward rotation stroke end (lsp) or reverse rotation stroke end (lsn) is assigned to pin 3 of cn1 with parameter no.48, this parameter cannot be used. 0882 refer to name and function column. s t 45 *di4 input signal selection 4 (cn1-5) allows any input signal to be assigned to cn1-pin 5. the assignable 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 cannot be used. 0995 refer to name and function column. s t expansion parameters 1 46 *di5 input signal selection 5 (cn1-6) allows any input signal to be assigned to cn1-pin 6. the assignable signals and setting method are the same as in input signal selection 2 (parameter no.43). speed control mode input signals of cn1-pin 6 selected. torque control mode 0 0 this parameter is unavailable when parameter no.42 is set to assign the control change (lop) to cn1-pin 6. if reverse rotation stroke end (lsn) is assigned to pin 6 of cn1 with p arameter no.48, this p arameter cannot be used. 0000 refer to name and function column. s t
15 - 48 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 47 *di6 input signal selection 6 (cn1-7) allows any input signal to be assigned to cn1-pin 7. the assignable signals and setting method are the same as in input signal selection 2 (parameter no.43). speed control mode input signals of cn1-pin 7 selected. torque control mode 0 0 this parameter is unavailable when parameter no.42 is set to assign the control change signal (lop) to cn1-pin 7. if forward rotation stroke end (lsp) is assigned to pin 7 of cn1 with p arameter no.48 , this p arameter cannot be used. 0000 refer to name and function column. 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 parameter no.46 takes priority. similarly, if reverse rotation stroke end (lsn) is assigned to pin 7 of cn1 (default setting), the setting of parameter no .47 takes priority. cn1-7 cn1-4 cn1-3 cn1-5 cn1-6 3 4 1 2 0 0 0 5 select the pin where the forward rotation stroke end (lsp) will be assigned. set value connector pin no. select the pin where the reverse rotation stroke end (lsn) will be assigned. the settings are the same as those of the first di g it. 0403 refer to name and function column. s
15 - 49 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode expansion parameters 1 49 *do1 output signal selection 1 used to select the connector pins to output the alarm code and warning (wng). setting of alarm code output connector pins set value cn1-10 cn1-11 cn1-12 0sa rd zp 1 88888 al.12 al.13 al.15 al.17 al.8a al.8e al.30 al.45 al.50 al.51 al.24 al.32 al.31 al.16 al.20 name watchdog memory error 1 clock error memory error 2 board error 2 serial communication 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 0 000 1 cn1 pin 11 0 0 1 1 0 1 cn1 pin 12 1 1 0 1 0 1 0 set value connector pin no. setting of warning (wng) output select the connector pin to output warning. the old signal before selection will be unavailable. al.19 memory error 3 al.37 parameter error al.33 overvoltage al.46 servo motor overheat al.10 undervoltage 1 0 0 al.1a motor combination error 0 not output. 1 cn1-11 2 cn1-9 3 cn1-10 4 cn1-12 0 alarm code is output at alarm occurrence. 0 note. 0: pin-vin off (open) 1: pin-vin on (short) 0000 refer to name and function column. s t
15 - 50 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 50 for manufacturer setting do not change this value by any means. 0000 51 *op6 function selection 6 used to select the operation to be performed when the reset (res) switches on. 0 00 operation to be performed when the reset (res) switches on 0: base circuit not switched off 1: base circuit switched off 0000 refer to name and function column. s t 52 for manufacturer setting do not change this value by any means. 0000 53 *op8 function selection 8 used to select the protocol of serial communication. 0 0 protocol checksum selection 0: yes (checksum added) 1: no (checksum not added) protocol checksum selection 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 pulse designation 1: division ratio setting servo motor rotation direction set value ccw cw 0 1 a-phase b-phase a-phase b-phase a-phase b-phase a-phase b-phase 0 0000 refer to name and function column. s t 55 for manufacturer setting do not change this value by any means. 0000 0 56 sic serial communication time-out selection used to set the communication protocol time-out period in [s]. when you set "0", time-out check is not made. 0 s 1 to 60 s t expansion parameters 2 57 for manufacturer setting do not change this value by any means. 10
15 - 51 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 58 nh1 machine resonance suppression filter 1 used to selection the machine resonance suppression filter. (refer to section 8.2.) set "00" when you have set adaptive vibration suppression control to be "valid" or "held" (parameter no.60: 1 or 2 ). 2 3 0 0 1 40db 14db 8db 4db notch frequency selection 00 01 02 03 04 05 06 07 setting value frequency invalid 4500 2250 1500 1125 900 750 642.9 08 09 0a 0b 0c 0d 0e 0f 562.5 500 450 409.1 375 346.2 321.4 300 frequency 10 11 12 13 14 15 16 17 281.3 264.7 250 236.8 225 214.3 204.5 195.7 frequency 18 19 1a 1b 1c 1d 1e 1f 187.5 180 173.1 166.7 160.1 155.2 150 145.2 frequency notch depth selection setting value depth gain deep shallow to setting value setting value setting value 0000 refer to name and function column. s t expansion parameters 2 59 nh2 machine resonance suppression filter 2 used to set the machine resonance suppression filter. 0 notch frequency same setting as in parameter no.58 however, you need not set "00" if you have set adaptive vibration suppression control to be "valid" or "held". notch depth same setting as in parameter no.58 0000 refer to name and function column. s t
15 - 52 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 60 lpf low-pass filter/adaptive vibration suppression control used to selection the low-pass filter and adaptive vibration suppression control. (refer to chapter 8.) 0 low-pass filter selection 0: valid (automatic adjustment) 1: invalid when you choose "valid", 2 (1 gd2 setting 0.1) vg2 setting 10 bandwidth filter is set automatically. adaptive vibration suppression control selection choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter no.58) invalid. 0: invalid 1: valid machine resonance frequency is always detected and the filter is generated in response to resonance to suppress machine 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 [h z ] 0000 refer to name and function column. s t 61 gd2b ratio of load inertia moment to servo motor inertia moment 2 used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid. 70 multi- plier ( 10 1 ) 0 to 3000 s 62 for manufacturer setting do not change this value by any means. 100 63 vg2b speed control gain 2 changing ratio used to set the ratio of changing the speed control gain 2 when gain changing is valid. made valid when auto tuning is invalid. 100 10 to 200 s expansion parameters 2 64 vicb speed integral compensation changing ratio used to set the ratio of changing the speed integral compensation when gain changing is valid. made valid when auto tuning is invalid. 100 50 to 1000 s
15 - 53 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 65 *cdp gain changing selection used to select the gain changing condition. (refer to section 8.5.) 0 00 gain changing selection gains are changed in accordance with the settings of parameters no.61 to 64 under any of the following conditions: 0: invalid 1: gain changing (cdp) is on 2: for manufacturer setting 3: for manufacturer setting 4: servo motor speed is equal to higher than parameter no.66 setting 0000 refer to name and function column. s 66 cds gain changing condition used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter no.65. the set value unit changes with the changing condition item. (refer to section 8.5.) 10 kpps pulse r/min 10 to 9999 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 s 68 for manufacturer setting 0 69 do not change this value by any means. 1 70 1 71 1 internal speed command 4 used to set speed 4 of internal speed commands. s 72 sc4 internal speed limit 4 used to set speed 4 of internal speed limits. 200 r/min 0 to in- stanta- neous permi- ssible speed t internal speed command 5 used to set speed 5 of internal speed commands. s 73 sc5 internal speed limit 5 used to set speed 5 of internal speed limits. 300 r/min 0 to in- stanta- neous permi- ssible speed t internal speed command 6 used to set speed 6 of internal speed commands. s 74 sc6 internal speed limit 6 used to set speed 6 of internal speed limits. 500 r/min 0 to in- stanta- neous permi- ssible speed t internal speed command 7 used to set speed 7 of internal speed commands. s expansion parameters 2 75 sc7 internal speed limit 7 used to set speed 7 of internal speed limits. 800 r/min 0 to in- stanta- neous permi- ssible speed t
15 - 54 15. mr-e- ag-qw003 servo amplifier compatible with analog input class no. symbol name and function initial value unit setting range control mode 76 tl2 internal torque limit 2 set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[ ]. when 0 is set, torque is not produced. when torque is output in analog monitor output, this set value is the maximum output voltage ( 8v). 100 0 to 100 s t 77 100 78 10000 79 10 80 10 81 100 82 100 83 100 expansion parameters 2 84 for manufacturer setting do not change this value by any means. 0000
15 - 55 15. mr-e- ag-qw003 servo amplifier compatible with analog input 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 before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. press the "mode" "up" or "down" button once to move to the next screen. to refer to or set the expansion parameters, make them valid with parameter no.19 (parameter write disable). cumulative feedback pulses [pulse] servo motor speed [r/min] analog speed command voltage analog speed limit voltage [v] analog torque limit voltage analog torque command voltage regenerative load ratio [%] effective load ratio [%] peak load ratio [%] within one-revolution position low [pulse] load inertia moment ratio [multiplier ( 1)] sequence external i/o signal display output (do) signal forced output test operation mode jog feed test operation mode motor-less operation software version low software version high automatic vc offset current alarm last alarm second alarm in past third alarm in past fourth alarm in past fifth alarm in past sixth alarm in past parameter error no. parameter no.0 parameter no.1 parameter no.18 parameter no.19 parameter no.20 parameter no.21 parameter no.48 parameter no.49 (note) mode button down up status display diagnosis basic parameters expansion parameters 1 alarm expansion parameters 2 parameter no.50 parameter no.51 parameter no.83 parameter no.84 instantaneous torque [%] within one-revolution position, high [100 pulse] bus voltage [v] motor series id motor type id encoder id [v] test operation mode machine analyzer operation 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 to change the initial indication of the status display at power-on.
15 - 56 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.5.2 status display (1) status display list the following table lists the servo statuses that may be shown. name symbol unit description display range cumulative feedback pulses c pulse feedback pulses from the servo motor encoder are counted and displayed. the value in excess of 99999 is counted, bus 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. reverse rotation is indicated by the lit decimal points in the upper four digits. 99999 to 99999 servo motor speed r r/min the servo motor speed is displayed. the value rounded off is displayed in 0.1r/min. 5400 to 5400 (1) torque control mode analog speed limit (vla) voltage is displayed. analog speed command voltage analog speed limit voltage f v (2) speed control mode analog speed command (vc) voltage is displayed. 10.00 to 10.00 (1) speed control mode analog torque limit (tla) voltage is displayed. 0 to 10v analog torque command voltage analog torque limit voltage u v (2) torque control mode analog torque command (tla) voltage is displayed. 8.0 to 8.0 regenerative load 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 is displayed relative to the rated torque of 100 . 0 to 400 instantaneous torque t torque that occurred instantaneously is displayed. the value of the torque that occurred is displayed in real time relative to the rate torque of 100 . 0 to 400 within one-revolution position low cy1 pulse position within one revolution is displayed in encoder pulses. the value returns to "0" when it exceeds the maximum number of pulses. the value is incremented in the ccw direction of rotation. 0 to 99999 within one-revolution position high cy2 100 pulse the within one-revolution position is displayed in 100 pulse increments of the encoder. the value returns to "0" when it exceeds the maximum number of pulses. the value is incremented in the ccw direction of rotation. 0 to 1310 load inertia moment ratio dc multiplier ( 1) the estimated ratio of the 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
15 - 57 15. mr-e- ag-qw003 servo amplifier compatible with analog input (2) changing the status display screen the status display item of the servo amplifier display shown at power-on can be changed by changing the parameter no.18 settings. the item displayed in the initial status changes with the control mode as follows. control mode status display at power-on speed servo motor speed speed/torque servo motor speed/analog torque command voltage torque analog torque command voltage
15 - 58 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.5.3 diagnostic mode name display description not ready. indicates that the servo amplifier is being initialized or an alarm has occurred. sequence ready. indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. external i/o signal display refer to section 15.5.4. indicates the on-off states of the external i/o signals. the upper segments correspond to the input signals and the lower segments to the output signals. lit: on extinguished: off the i/o signals can be changed using parameters no.43 to 49. output (do) signal forced output the digital output signal can be forc ed on/o ff. for more information, refer to section 6.7. jog feed jog operation can be performed when there is no command from the external command device. for details, refer to section 6.8.2. screen for manufacturer setting. when this screen is being displayed, do not press any other buttons than "up" and "down". motor-less operation without connection of the servo motor, the servo amplifier provides output signals and displays the status as if the servo motor is running actually in response to the external input signal. for details, refer to section 6.8.4. test operation mode machine analyzer operation merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured. the mr configurator (servo configuration software) is required for machine analyzer operation. gain search cannot be used. software version low indicates the version of the software. software version high indicates the system number of the software. automatic vc offset if offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at the analog speed command (vc) or analog speed limit (vla) of 0v, this function automatically makes zero-adjustment of offset voltages. when using this function, make it valid in the following procedure. making it valid causes the parameter no.29 value to be the automatically adjusted offset voltage. 1) press "set" once. 2) set the number in the first digit to 1 with "up"/"down". 3) press "set". you cannot use this function if the input voltage of vc or vla is 0.4v or more.
15 - 59 15. mr-e- ag-qw003 servo amplifier compatible with analog input name display description motor series id press the "set" button to show the motor series id of the servo motor currently connected. motor type id press the "set" button to show the motor type id of the servo motor currently connected. encoder id press the "set" button to show the encoder id of the servo motor currently connected.
15 - 60 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.5.4 external i/o signal display the on/off states of the digital i/o signals connected to the servo amplifier can be confirmed. (1) operation call the display screen shown after power-on. using the "mode" button, show the diagnostic screen. press up once. external i/o signal display screen (2) display definition cn1 6 cn1 7 cn1 21 cn1 5 cn1 9 cn1 3 cn1 4 cn1 12 cn1 11 cn1 10 lit: on extinguished: off input signals 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 to 47 5 i st2 rs1 43 to 47 6 i lsp 43 to 48 7 i lsn 43 to 48 8 i emg emg 9 o alm alm 49 10 o sa 49 11 o rd rd 49 12 o zsp zsp 49 21 o op op note 1. i: input signal, o: output signal 2. s: speed control mode, t: torque control mode. 3. cn1b-4 and cn1a-18 output signals are the same.
15 - 61 15. mr-e- ag-qw003 servo amplifier compatible with analog input (3) default signal indications (a) speed control mode lit: on extinguished: off input signals output signals son (cn 1-4) servo-on lsn (cn 1-7) reverse rotation stroke end lsp (cn 1-6) forward rotation stroke end rd (cn 1-11) ready zsp (cn 1-12) zero speed alm (cn 1-9) trouble op (cn 1-21) encoder z-phase pulse emg (cn 1-8) emergency stop sa (cn 1-10) limiting speed st1 (cn 1-3) forward rotation start st2 (cn 1-5) reverse rotation start (b) torque control mode lit: on extinguished: off input signals output signals rs1 (cn 1-5) forward rotation selection rs2 (cn 1-3) reverse rotation selection son (cn 1-4) servo-on (cn 1-7) (cn 1-6) rd (cn 1-11) ready (cn 1-10) zsp (cn 1-12) zero speed alm (cn 1-9) trouble op (cn 1-21) encoder z-phase pulse emg (cn 1-8) emergency stop
15 - 62 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.6. troubleshooting 15.6.1 trouble at start-up the following faults may occur at start-up. if any of such faults occurs, take the corresponding action. (1) speed control mode no. start-up sequence fault investigation possible cause reference not improved if connectors cn1, cn2 and cn3 are disconnected. 1. power supply voltage fault 2. servo amplifier is faulty. improved when connectors cn1 is disconnected. power supply of cn1 cabling is shorted. improved when connector cn2 is disconnected. 1. power supply of encoder cabling is 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 (son). servo motor shaft is not servo-locked (is free). 1. check the display to see if the servo amplifier is ready to operate. 2. check the external i/o signal indication to see if the servo-on (son) is on. 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 input voltage of the analog speed command (vc). analog speed command is 0v. section 6.2 call the external i/o signal display and check the on/off status of the input signal. lsp, lsn, st1 or st2 is off. section 6.6 check the internal speed commands 1 to 7 (parameters no.8 to 10 72 to 75). set value is 0. check the internal torque limit 1 (parameter no.28). torque limit level is too low as compared to the load torque. 3 switch on forward rotation start (st1) or reverse rotation start (st2). servo motor does not rotate. when the analog torque limit (tla) is usable, check the input voltage on the status display. torque limit level is too low as compared to the load torque. section 5.1.2 (1) rotation ripples (speed fluctuations) are large at low speed. make gain adjustment in the following procedure. 1. increase the auto tuning response level. 2. repeat acceleration and deceleration several times to complete auto tuning. gain adjustment fault chapter 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 note. switch power on again after making sure that the change lamp has turned off completely.
15 - 63 15. mr-e- ag-qw003 servo amplifier compatible with analog input (2) torque control mode no. start-up sequence fault investigation possible cause reference not improved if connectors cn1, cn2 and cn3 are disconnected. 1. power supply voltage fault 2. servo amplifier is faulty. improved when connectors cn1 is disconnected. power supply of cn1 cabling is shorted. improved when connector cn2 is disconnected. 1. power supply of encoder cabling is 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 (son). servo motor shaft is free. call the external i/o signal display and check the on/off status of the input signal. 1. servo-on (son) is not input. (wiring mistake) 2. 24vdc power is not supplied to com. section 6.6 call the status display and check the analog torque command (tc). analog torque command is 0v. section 6.2 call the external i/o signal display and check the on/off status of the input signal. rs1 or rs2 is off. section 6.6 check the internal speed limits 1 to 7 (parameters no.8 to 10 72 to 75). set value is 0. check the analog torque command maximum output (parameter no.26) value. torque command level is too low as compared to the load torque. 3 switch on forward rotation start (rs1) or reverse rotation start (rs2). servo motor does not rotate. check the internal torque limit 1 (parameter no.28). set value is 0. section 5.1.2 (1) note. switch power on again after making sure that the change lamp has turned off completely.
15 - 64 15. mr-e- ag-qw003 servo amplifier compatible with analog input 15.6.2 alarms and warning list point configure up a circuit which will detect the trouble (alm) signal and turn off the servo-on (son) signal at occurrence of an alarm. when a fault occurs during operation, the corresponding alarm or warning is displayed. if any alarm or warning has occurred, refer to section 10.2.2 or 10.2.3 and take the appropriate action. when an alarm occurs, the current circuit between alm and vin opens. set " 1" in parameter no.49 to output the alarm code in on/off status across the corresponding pin and vin. warnings (al.e0 to al.e9) have no alarm codes. any alarm code is output at occurrence of the corresponding alarm. in the normal status, the signals available before alarm code setting (cn1-12: zsp, cn1- 11: rd, cn1-10: sa) are output. after its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. (note 2) alarm code alarm deactivation display cn1-10 pin cn1-11 pin cn1-12 pin name power off on press "set" on current alarm screen. alarm reset (res) signal al.10 0 1 0 undervoltage al.12 0 0 0 memory error 1 al.13 0 0 0 clock error al.15 0 0 0 memory error 2 al.16 1 0 1 encoder error 1 al.17 0 0 0 board error al.19 0 0 0 memory error 3 al.1a 1 0 1 motor combination error al.20 1 1 0 encoder error 2 al.24 0 0 1 main circuit error al.30 0 1 0 regenerative error (note 1) (note 1) (note 1) al.31 0 1 1 overspeed al.32 0 0 1 overcurrent al.33 0 1 0 overvoltage al.37 0 0 0 parameter error al.45 1 1 0 main circuit device overheat al.46 1 1 0 servo motor overheat al.50 1 1 0 overload 1 (note 1) (note 1) (note 1) al.51 1 1 0 overload 2 (note 1) (note 1) (note 1) al.8a 0 0 0 serial communication time-out error al.8e 0 0 0 serial communication error alarms 88888 0 0 0 watchdog al.e0 excessive regenerative warning al.e1 overload warning al.e6 servo emergency stop warning warnings al.e9 undervoltage warning removing the cause of occurrence deactivates the alarm automatically. note 1. deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence. 2. 0: off 1: on
app. - 1 a ppendix app. change of connector sets to the rohs compatible products the following connector sets have been changed to rohs compliant since september 2006. rohs compliant and non-rohs compliant connector sets may be mixed based on availability. only the components of the connector set that have changed are listed below. model current product rohs compatible product mr-escbl m-l mr-escbl m-h encoder cable (ddk) ms3106b20-29s (plug) ms3057-12a (cable clump) encoder cable (ddk) d/ms3106b20-29s (plug) d/ms3057-12a (cable clump) mr-enecbl m-l encoder cable (ddk) ms3106a20-29s(d190) (plug) ce3057-12a-3(d265) (cable clump) ce02-20bs-s (back shell) encoder cable (ddk) d/ms3106a20-29s(d190) (plug) ce3057-12a-3-d (cable clump) ce02-20bs-s-d (back shell) mr-ecns encoder cable (ddk) ms3106b20-29s (plug) ms3057-12a (cable clump) encoder cable (ddk) d/ms3106b20-29s (plug) d/ms3057-12a (cable clump) mr-enecns encoder cable (ddk) ms3106a20-29s (d190) (plug) ce3057-12a-3 (d265) (cable clump) ce02-20bs-s (back shell) encoder cable (ddk) d/ms3106a20-29s (d190) (plug) ce3057-12a-3-d (cable clump) ce02-20bs-s-d (back shell) mr-pwcns4 motor power supply connector (ddk) ce05-6a18-10sd-b-bss (conn ector and back shell) ce3057-10a-1 (d265) (cable clump) motor power supply connector (ddk) ce05-6a18-10sd-d-bss (c onnector and back shell) ce3057-10a-1-d (cable clump) mr-pwcns5 motor power supply connector (ddk) ce05-6a22-22sd-b-bss (conn ector and back shell) ce3057-12a-1 (d265) (cable clump) motor power supply connector (ddk) ce05-6a22-22sd-d-bss (c onnector and back shell) ce3057-12a-1-d (cable clump)
revisions *the manual number is given on the bottom left of the back cover. print data *manual number revision may, 2008 sh(na)030075-a first edition sh(na)030075-a
sh (na) 030075-a (0805) mee printed in japan specifications subject to change without notice. this instruction manual uses recycled paper. model model code mr-e- a-qw003/mr-e- ag-qw003 instruction manual general-purpose ac servo ezmotion mr-e super general-purpose interface model mr-e- a-qw003 instruction manual mr-e- ag-qw003 head office : tokyo bldg marunouchi tokyo 100-8310

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