Mitsubishi Electronics MR-E- A/AG User Manuals

Table of Contents

• Safety Instructions

  2
• About processing of waste

  7
• COMPLIANCE WITH EC DIRECTIVES

  8
• CONFORMANCE WITH UL/C-UL STANDARD

  10
• CONTENTS

  12
• 1. FUNCTIONS AND CONFIGURATION

  18
  • 1.1 Introduction

    18
  • 1.2 Function block diagram

    19
  • 1.3 Servo amplifier standard specifications

    20
  • 1.4 Function list

    21
  • 1.5 Model code definition

    23
  • 1.6 Combination with servo motor

    23
  • 1.7 Parts identification

    24
  • 1.8 Servo system with auxiliary equipment

    26
• 2. INSTALLATION

  28
  • 2.1 Environmental conditions

    28
  • 2.2 Installation direction and clearances

    29
  • 2.3 Keep out foreign materials

    30
  • 2.4 Cable stress

    30
• 3. SIGNALS AND WIRING

  32
  • 3.1 Standard connection example

    33
    • 3.1.1 Position control mode

      33
    • 3.1.2 Internal speed control mode

      39
  • 3.2 Internal connection diagram of servo amplifier

    40
  • 3.3 I/O signals

    41
    • 3.3.1 Connectors and signal arrangements

      41
    • 3.3.2 Signal explanations

      44
  • 3.4 Detailed description of the signals

    50
    • 3.4.1 Position control mode

      50
    • 3.4.2 Internal speed control mode

      55
    • 3.4.3 Position/internal speed control change mode

      57
  • 3.5 Alarm occurrence timing chart

    59
  • 3.6 Interfaces

    60
    • 3.6.1 Common line

      60
    • 3.6.2 Detailed description of the interfaces

      61
  • 3.7 Input power supply circuit

    65
    • 3.7.1 Connection example

      65
    • 3.7.2 Terminals

      66
    • 3.7.3 Power-on sequence

      67
  • 3.8 Connection of servo amplifier and servo motor

    68
    • 3.8.1 Connection instructions

      68
    • 3.8.2 Connection diagram

      68
    • 3.8.3 I/O terminals

      70
  • 3.9 Servo motor with electromagnetic brake

    72
  • 3.10 Grounding

    75
  • 3.11 Servo amplifier connectors (CNP1, CNP2) wiring method (When MR-ECPN1-B and MR-ECPN2-B of an option are used.)

    76
  • 3.12 Instructions for the 3M connector

    79
• 4. OPERATION

  80
  • 4.1 When switching power on for the first time

    80
  • 4.2 Startup

    81
    • 4.2.1 Selection of control mode

      81
    • 4.2.2 Position control mode

      81
    • 4.2.3 Internal speed control mode

      83
• 5. PARAMETERS

  86
  • 5.1 Parameter list

    86
    • 5.1.1 Parameter write inhibit

      86
    • 5.1.2 Lists

      87
  • 5.2 Detailed description

    110
    • 5.2.1 Electronic gear

      110
    • 5.2.2 Analog monitor

      111
    • 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern

      114
    • 5.2.4 Alarm history clear

      114
    • 5.2.5 Position smoothing

      115
• 6. DISPLAY AND OPERATION

  116
  • 6.1 Display flowchart

    116
  • 6.2 Status display

    117
    • 6.2.1 Display examples

      117
    • 6.2.2 Status display list

      118
    • 6.2.3 Changing the status display screen

      119
  • 6.3 Diagnostic mode

    120
  • 6.4 Alarm mode

    121
  • 6.5 Parameter mode

    122
  • 6.6 External I/O signal display

    123
  • 6.7 Output signal (DO) forced output

    125
  • 6.8 Test operation mode

    126
    • 6.8.1 Mode change

      126
    • 6.8.2 Jog operation

      127
    • 6.8.3 Positioning operation

      128
    • 6.8.4 Motor-less operation

      129
• 7. GENERAL GAIN ADJUSTMENT

  130
  • 7.1 Different adjustment methods

    130
    • 7.1.1 Adjustment on a single servo amplifier

      130
    • 7.1.2 Adjustment using servo configuration software

      131
  • 7.2 Auto tuning

    132
    • 7.2.1 Auto tuning mode

      132
    • 7.2.2 Auto tuning mode operation

      133
    • 7.2.3 Adjustment procedure by auto tuning

      134
    • 7.2.4 Response level setting in auto tuning mode

      135
  • 7.3 Manual mode 1 (simple manual adjustment)

    136
    • 7.3.1 Operation of manual mode 1

      136
    • 7.3.2 Adjustment by manual mode 1

      136
  • 7.4 Interpolation mode

    139
• 8. SPECIAL ADJUSTMENT FUNCTIONS

  140
  • 8.1 Function block diagram

    140
  • 8.2 Machine resonance suppression filter

    140
  • 8.3 Adaptive vibration suppression control

    142
  • 8.4 Low-pass filter

    143
  • 8.5 Gain changing function

    144
    • 8.5.1 Applications

      144
    • 8.5.2 Function block diagram

      144
    • 8.5.3 Parameters

      145
    • 8.5.4 Gain changing operation

      147
• 9. INSPECTION

  150
• 10. TROUBLESHOOTING

  152
  • 10.1 Trouble at start-up

    152
    • 10.1.1 Position control mode

      152
    • 10.1.2 Internal speed control mode

      155
  • 10.2 When alarm or warning has occurred

    156
    • 10.2.1 Alarms and warning list

      156
    • 10.2.2 Remedies for alarms

      157
    • 10.2.3 Remedies for warnings

      162
• 11. OUTLINE DIMENSION DRAWINGS

  164
  • 11.1 Servo amplifiers

    164
  • 11.2 Connectors

    168
• 12. CHARACTERISTICS

  172
  • 12.1 Overload protection characteristics

    172
  • 12.2 Power supply equipment capacity and generated loss

    172
  • 12.3 Dynamic brake characteristics

    174
  • 12.4 Encoder cable flexing life

    175
• 13. OPTIONS AND AUXILIARY EQUIPMENT

  176
  • 13.1 Options

    176
    • 13.1.1 Regenerative brake options

      176
    • 13.1.2 Cables and connectors

      181
    • 13.1.3 Analog monitor, RS-232C branch cable (MR-E3CBL15-P)

      194
    • 13.1.4 Servo configurations software

      195
  • 13.2 Auxiliary equipment

    196
    • 13.2.1 Recommended wires

      196
    • 13.2.2 No-fuse breakers, fuses, magnetic contactors

      198
    • 13.2.3 Power factor improving reactors

      198
    • 13.2.4 Relays

      199
    • 13.2.5 Surge absorbers

      199
    • 13.2.6 Noise reduction techniques

      199
    • 13.2.7 Leakage current breaker

      205
    • 13.2.8 EMC filter

      207
• 14. SERVO MOTOR

  208
  • 14.1 Compliance with the overseas standards

    208
    • 14.1.1 Compliance with EC directives

      208
    • 14.1.2 Conformance with UL/C-UL standard

      208
  • 14.2 Model name make-up

    209
  • 14.3 Parts identification

    211
  • 14.4 Installation

    212
    • 14.4.1 Environmental conditions

      213
    • 14.4.2 Installation orientation

      213
    • 14.4.3 Load mounting precautions

      214
    • 14.4.4 Permissible load for the shaft

      215
    • 14.4.5 Protection from oil and water

      218
    • 14.4.6 Cable

      219
  • 14.5. Connectors used for servo motor wiring

    220
    • 14.5.1 HC-KFE series

      220
    • 14.5.2 HC-SFE series

      220
  • 14.6 Specifications

    226
    • 14.6.1 Standard specifications

      226
    • 14.6.2 Torque characteristics

      228
    • 14.6.3 Servo motors with reduction gears

      229
    • 14.6.4 Servo motors with special shafts

      232
    • 14.6.5 D cut

      232
  • 14.7 Characteristics

    233
    • 14.7.1 Electromagnetic brake characteristics

      233
    • 14.7.2 Vibration rank

      235
    • 14.7.3 Machine Accuracies

      235
  • 14.8 Outline dimension drawing

    236
    • 14.8.1 HC-KFE series

      236
    • 14.8.2 HC-SFE series

      239
  • 14.9 Outline dimension drawing (in inches)

    241
    • 14.9.1 HC-KFE series

      241
    • 14.9.2 HC-SFE series

      244
• 15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

  246
  • 15.1. Functions and configuration

    246
    • 15.1.1 Introduction

      246
    • 15.1.2 Function block diagram

      247
    • 15.1.3 Servo amplifier standard specifications

      248
    • 15.1.4 Model code definition

      249
    • 15.1.5 Parts identification

      249
    • 15.1.6 Servo system with auxiliary equipment

      251
  • 15.2. Signals and wiring

    253
    • 15.2.1 Standard connection example

      253
    • 15.2.2 Internal connection diagram of servo amplifier

      256
    • 15.2.3 Connectors and signal arrangements

      257
    • 15.2.4 Signal explanations

      259
    • 15.2.5 Detailed description of the signals

      263
  • 15.3 Startup

    270
    • 15.3.1 Speed control mode

      270
    • 15.3.2 Torque control mode

      272
  • 15.4 Parameters

    274
    • 15.4.1 Item list

      274
    • 15.4.2 Details list

      277
  • 15.5 Display and operation

    296
    • 15.5.1 Display flowchart

      296
    • 15.5.2 Status display

      298
    • 15.5.3 Diagnostic mode

      300
    • 15.5.4 External I/O signal display

      302
  • 15.6. Troubleshooting

    304
    • 15.6.1 Trouble at start-up

      304
    • 15.6.2 Alarms and warning list

      306
• REVISIONS

  308