Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003 User manual

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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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.
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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 L1, L2, and L3of 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.
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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 XY : 24.5
(Note)
Vibration [m/s2] 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.
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(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 motorServo 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
SGSG
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.
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(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).
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(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.
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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.
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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.
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(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 terminalsPE 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).
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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 m3/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.
<<About the manuals>>
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
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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 standard specifications.................................................................................................... 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 direction 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 diagram 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 explanations ........................................................................................................................... 3-13
3.4 Detailed description of the signals........................................................................................................... 3-19
3.4.1 Position control mode........................................................................................................................ 3-19
3.4.2 Internal speed control mode ............................................................................................................. 3-24
3.4.3 Position/internal speed control change mode .................................................................................. 3-26
3.5 Alarm occurrence timing chart ................................................................................................................. 3-28
3.6 Interfaces.................................................................................................................................................. 3-29
3.6.1 Common line ..................................................................................................................................... 3-29
3.6.2 Detailed description of the interfaces ............................................................................................... 3-30
3.7 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 amplifier 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
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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 Display examples ............................................................................................................................... 6- 2
6.2.2 Status display list................................................................................................................................ 6- 3
6.2.3 Changing the status display screen................................................................................................... 6- 4
6.3 Diagnostic mode ....................................................................................................................................... 6- 5
6.4 Alarm mode ............................................................................................................................................... 6- 6
6.5 Parameter mode ....................................................................................................................................... 6- 7
6.6 External I/O signal display ........................................................................................................................ 6- 8
6.7 Output signal (DO) forced output............................................................................................................. 6-10
6.8 Test operation mode ................................................................................................................................ 6-11
6.8.1 Mode change..................................................................................................................................... 6-11
6.8.2 Jog operation..................................................................................................................................... 6-12
6.8.3 Positioning operation......................................................................................................................... 6-13
6.8.4 Motor-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 single servo amplifier.............................................................................................. 7- 1
7.1.2 Adjustment using MR Configurator (servo configuration 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
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7.2.3 Adjustment procedure by auto tuning................................................................................................ 7- 5
7.2.4 Response level setting in auto tuning mode ..................................................................................... 7- 6
7.3 Manual mode 1 (simple 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 changing 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 speed control mode .......................................................................................................... 10- 4
10.2 When alarm or warning has occurred .................................................................................................. 10- 5
10.2.1 Alarms and warning list.................................................................................................................. 10- 5
10.2.2 Remedies for alarms ...................................................................................................................... 10- 6
10.2.3 Remedies for warnings ................................................................................................................. 10-11
11. OUTLINE DIMENSION DRAWINGS 11- 1 to 11- 8
11.1 Servo amplifiers .................................................................................................................................... 11- 1
11.2 Connectors ............................................................................................................................................ 11- 5
12. CHARACTERISTICS 12- 1 to 12- 4
12.1 Overload protection characteristics ...................................................................................................... 12- 1
12.2 Power supply equipment capacity and generated loss ....................................................................... 12- 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 branch cable (MR-E3CBL15-P) ........................................................ 13-27
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13.1.4 MR Configurator (servo configurations software) ........................................................................ 13-28
13.2 Auxiliary equipment.............................................................................................................................. 13-29
13.2.1 Selection example of wires ........................................................................................................... 13-29
13.2.2 Circuit breakers, fuses, 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 reduction 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 brake 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 load for the shaft ........................................................................................................ 14- 8
14.3.4 Protection from 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 BC) .............................................................. 14-12
14.4.3 Wiring connectors (Connector configurations 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 name make up ................................................................................................................... 14-22
14.6.2 Standard specifications ................................................................................................................. 14-23
14.6.3 Electromagnetic brake characteristics.......................................................................................... 14-25
14.6.4 Servo motors with special shafts .................................................................................................. 14-26
14.6.5 Outline dimension drawings.......................................................................................................... 14-27
14.7 HF-SE JW1-S100.............................................................................................................................. 14-34
14.7.1 Model name make up ................................................................................................................... 14-34
14.7.2 Standard specifications ................................................................................................................. 14-35
14.7.3 Electromagnetic brake characteristics.......................................................................................... 14-37
14.7.4 Servo motors with special shafts .................................................................................................. 14-38
14.7.5 Outline dimension drawings.......................................................................................................... 14-39
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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 standard specifications......................................................................................... 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 connection example ....................................................................................................... 15- 8
15.2.2 Internal connection diagram of servo amplifier ............................................................................ 15-11
15.2.3 Connectors and signal arrangements .......................................................................................... 15-12
15.2.4 Signal explanations ....................................................................................................................... 15-14
15.2.5 Detailed description of the signals................................................................................................ 15-20
15.3 Startup .................................................................................................................................................. 15-27
15.3.1 Speed control mode ...................................................................................................................... 15-27
15.3.2 Torque control 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 and operation .......................................................................................................................... 15-55
15.5.1 Display flowchart ........................................................................................................................... 15-55
15.5.2 Status display ................................................................................................................................ 15-56
15.5.3 Diagnostic 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 the RoHS compatible products ..........................................................App.- 1
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MEMO
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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.
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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 L1
L2
L3
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 L1and L2while leaving L3open. 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
(L1, L2, L3, U, V, W, P, C and D).
4. Servo amplifiers MR-E-200A-QW003 have a cooling fan.
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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-off, regenerative overvoltage shut-off, overload 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)
OperationAmbient
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/s2] or less
Mass [kg] 0.7 0.7 1.1 1.7 1.7 2.0
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