Mitsubishi Electric MR-JE-_A User manual

SH(NA)030177-B(1608)MEE Printed in Japan Specifications are subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL(Modbus-RTU Protocol)
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-JE-_A
SERVO AMPLIFIER
INSTRUCTION MANUAL
(Modbus-RTU Protocol)
General-Purpose Interface AC Servo
1CW708
MR-JE-A
INSTRUCTIONMANUAL(MODBUS-RTU)
B
B

A - 1
Safety Instructions
Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until
you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not
use the equipment 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 Instruction Manual, keep it accessible to the operator.

A - 2
1. To prevent electric shock, note the following.
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp of
the servo amplifier is off. Otherwise, an electric shock may occur. In addition, when confirming whether
the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
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, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.
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 or smoke generation.
Always connect a magnetic contactor between the power supply and the power supply (L1, L2, and L3)
of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the
servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large
current may cause a fire or smoke generation when the servo amplifier malfunctions.
In order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power
supply, always connect one molded-case circuit breaker or fuse per one servo amplifier between the
power supply and the power supply (L1, L2, and L3) of a servo amplifier. If a molded-case circuit breaker
or fuse is not connected, continuous flow of a large current may cause a fire or smoke generation when
the servo amplifier malfunctions.
When using a regenerative resistor, shut off the power supply using an error signal. Not doing so may
cause a fire or smoke generation when a regenerative transistor malfunctions or the like may overheat
the regenerative transistor.
When using a regenerative option with the MR-JE-40A to MR-JE-100A servo amplifier, remove the built-
in regenerative resistor itself and wiring from the servo amplifier.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.

A - 3
3. To prevent injury, note the following.
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the lead wire of the built-in regenerative resistor when transporting the servo amplifier.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient
temperature
Operation 0 ˚C to 55 ˚C (non-freezing)
Storage -20 ˚C to 65 ˚C (non-freezing)
Ambient
humidity
Operation 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 1000 m or less above sea level
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in a metal cabinet.

A - 4
CAUTION
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our
products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
(2) Wiring
CAUTION
When removing the CNP1 connector of the MR-JE-40A to MR-JE-100A servo amplifier, remove the lead
wire of the built-in regenerative resistor from the CNP1 connector in advance.
Correctly and securely wire cables. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF) between the servo
motor and the output side of the servo amplifier.
To avoid a malfunction of the servo motor, connect the wires to the correct phase terminals (U, V, and W)
of the servo amplifier and servo motor.
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier Servo motorServo amplifier
This instruction manual uses connection diagrams for sink interface unless otherwise described.
The surge absorbing diode installed to the DC relay for control output signals should be fitted in the
specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control output
signal
Servo amplifier
RA
For sink output interface
24 V DC
DOCOM
Control output
signal
24 V DC
Servo amplifie
r
RA
For source output interface
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor for wrong axis to U, V, W, and CN2 of the servo amplifier connector may
cause a malfunction.
Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected
restart of the servo amplifier.

A - 5
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never adjust or change parameter values drastically. Doing so leads to unstable operations.
Do not approach the moving part while the servo amplifier is in the servo-on status.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Do not disassemble, repair, or modify the equipment.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the 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 motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened with
the emergency stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
24 V DC
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A - 6
(6) Maintenance, inspection and parts replacement
CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using the servo amplifier that has not been energized for an extended period of time, contact your
local sales office.
(7) 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.
DISPOSAL OF WASTE
Please dispose a servo amplifier and other options according to your local laws and regulations.
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 may malfunction when the
EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table setting changes
Write to the EEP-ROM due to program setting changes

A - 7
Compliance with global standards
For the compliance with global standards, refer to app. 2 of "MELSERVO-JE-_A Servo Amplifier Instruction
Manual".
«About the manual»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
Relevant manuals
Manual name Manual number
MELSERVO MR-JE-_A Servo Amplifier Instruction Manual SH(NA)030128
MELSERVO MR-JE-_A Servo Amplifier Instruction Manual (Positioning Mode) SH(NA)030150
MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030166
MELSERVO HG-KN_/HG-SN_ Servo Motor Instruction Manual SH(NA)030135
EMC Installation Guidelines IB(NA)67310
«U.S. customary units»
U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

A - 8
MEMO

1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 4
1.1 Summary........................................................................................................................................... 1- 1
1.2 Function List...................................................................................................................................... 1- 2
1.3 Communication Specifications.......................................................................................................... 1- 2
1.4 System Configuration ....................................................................................................................... 1- 3
1.4.1 Diagrammatic sketch.................................................................................................................. 1- 3
1.4.2 Cable connection diagram ......................................................................................................... 1- 4
2. PARAMETER 2- 1 to 2- 6
2.1 Detailed list of parameters ................................................................................................................ 2- 2
2.2 Restrictions on using Modbus-RTU communication ........................................................................ 2- 5
3. MODBUS PROTOCOL 3- 1 to 3-10
3.1 Modbus-RTU Message Format ........................................................................................................ 3- 1
3.2 Broadcast Communication................................................................................................................ 3- 1
3.3 Modbus-RTU Communication Message Frame ............................................................................... 3- 2
3.4 Function Codes................................................................................................................................. 3- 3
3.4.1 List of function codes ................................................................................................................. 3- 3
3.4.2 Read Holding Registers (Reading data in holding registers: 03h)............................................. 3- 4
3.4.3 Diagnostics (Function diagnostics: 08h) .................................................................................... 3- 6
3.4.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h) ............................... 3- 8
3.4.5 Processing at occurrence of an error........................................................................................ 3-10
4. MODBUS REGISTERS 4- 1 to 4-22
4.1 List of Available Registers ................................................................................................................ 4- 1
4.2 Monitor (Address: 2B01h to 2B7Fh) ................................................................................................. 4- 2
4.2.1 List of registers ........................................................................................................................... 4- 2
4.2.2 Directions for use ....................................................................................................................... 4- 3
4.3 Parameter Setting (Address: 2001h to 27FFh)................................................................................. 4- 4
4.3.1 List of registers ........................................................................................................................... 4- 4
4.3.2 Directions for use ....................................................................................................................... 4- 4
4.4 Point Table Setting (Address: 2801h to 281Fh) ............................................................................... 4- 5
4.4.1 List of registers ........................................................................................................................... 4- 5
4.4.2 Directions for use ....................................................................................................................... 4- 5
4.5 Writing Command to EEP-ROM (Address: 1010h) .......................................................................... 4- 5
4.5.1 List of registers ........................................................................................................................... 4- 5
4.5.2 Directions for use ....................................................................................................................... 4- 6
4.6 Alarm Information (Address: 1001h)................................................................................................. 4- 7
4.6.1 List of registers ........................................................................................................................... 4- 7
4.6.2 Directions for use ....................................................................................................................... 4- 7
4.7 Alarm Number (Address: 2A41h) ..................................................................................................... 4- 7
4.7.1 List of registers ........................................................................................................................... 4- 7
4.7.2 Directions for use ....................................................................................................................... 4- 7
4.8 Alarm Occurrence Monitor (Address: 2B81h to 2BFFh)................................................................... 4- 8
4.8.1 List of registers ........................................................................................................................... 4- 8